kopia lustrzana https://github.com/OpenDroneMap/ODM
71 wiersze
2.8 KiB
Python
71 wiersze
2.8 KiB
Python
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"""
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OpenSfM related utils
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"""
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from opendm import io
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from opendm import log
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from opendm import system
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from opendm import context
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def run(command, opensfm_project_path):
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system.run('%s/bin/opensfm %s %s' %
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(context.opensfm_path, command, opensfm_project_path))
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def setup(args, params, images_path, opensfm_path, photos, gcp_path=None, append_config = []):
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"""
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Setup a OpenSfM project
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"""
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if not io.dir_exists(opensfm_path):
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system.mkdir_p(opensfm_path)
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# create file list
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list_path = io.join_paths(opensfm_path, 'image_list.txt')
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has_alt = True
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with open(list_path, 'w') as fout:
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for photo in photos:
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if not photo.altitude:
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has_alt = False
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fout.write('%s\n' % io.join_paths(images_path, photo.filename))
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# create config file for OpenSfM
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config = [
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"use_exif_size: %s" % ('no' if not params.get('use_exif_size') else 'yes'),
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"feature_process_size: %s" % params.get('feature_process_size'),
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"feature_min_frames: %s" % params.get('feature_min_frames'),
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"processes: %s" % params.get('processes'),
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"matching_gps_neighbors: %s" % params.get('matching_gps_neighbors'),
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"depthmap_method: %s" % args.opensfm_depthmap_method,
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"depthmap_resolution: %s" % args.depthmap_resolution,
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"depthmap_min_patch_sd: %s" % args.opensfm_depthmap_min_patch_sd,
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"depthmap_min_consistent_views: %s" % args.opensfm_depthmap_min_consistent_views,
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"optimize_camera_parameters: %s" % ('no' if params.get('fixed_camera_params') else 'yes')
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]
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if has_alt:
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log.ODM_DEBUG("Altitude data detected, enabling it for GPS alignment")
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config.append("use_altitude_tag: yes")
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config.append("align_method: naive")
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else:
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config.append("align_method: orientation_prior")
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config.append("align_orientation_prior: vertical")
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if args.use_hybrid_bundle_adjustment:
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log.ODM_DEBUG("Enabling hybrid bundle adjustment")
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config.append("bundle_interval: 100") # Bundle after adding 'bundle_interval' cameras
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config.append("bundle_new_points_ratio: 1.2") # Bundle when (new points) / (bundled points) > bundle_new_points_ratio
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config.append("local_bundle_radius: 1") # Max image graph distance for images to be included in local bundle adjustment
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if args.matcher_distance > 0:
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config.append("matching_gps_distance: %s" % params.get('matching_gps_distance'))
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if gcp_path:
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config.append("bundle_use_gcp: yes")
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io.copy(gcp_path, opensfm_path)
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config = config + append_config
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# write config file
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log.ODM_DEBUG(config)
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config_filename = io.join_paths(opensfm_path, 'config.yaml')
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with open(config_filename, 'w') as fout:
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fout.write("\n".join(config))
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