OpenDroneMap-ODM/stages/mve.py

import shutil, os, glob, math

from opendm import log
from opendm import io
from opendm import system
from opendm import context
from opendm import point_cloud
from opendm import types
from opendm.osfm import OSFMContext

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

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

        # check if reconstruction was done before
        if not io.file_exists(tree.mve_model) or self.rerun():
            # mve makescene wants the output directory
            # to not exists before executing it (otherwise it
            # will prompt the user for confirmation)
            if io.dir_exists(tree.mve):
                shutil.rmtree(tree.mve)

            # run mve makescene
            if not io.dir_exists(tree.mve_views):
                nvm_file = tree.opensfm_reconstruction_nvm
                if reconstruction.multi_camera:
                    # Reconstruct only the primary band
                    primary = reconstruction.multi_camera[0]
                    nvm_file = os.path.join(tree.opensfm, "undistorted", "reconstruction_%s.nvm" % primary['name'].lower())

                system.run('%s "%s" "%s"' % (context.makescene_path, nvm_file, tree.mve), env_vars={'OMP_NUM_THREADS': args.max_concurrency})

            self.update_progress(10)

            # Compute mve output scale based on depthmap_resolution
            max_pixels = args.depthmap_resolution * args.depthmap_resolution
            if outputs['undist_image_max_size'] * outputs['undist_image_max_size'] <= max_pixels:
                mve_output_scale = 0
            else:
                ratio = float(outputs['undist_image_max_size'] * outputs['undist_image_max_size']) / float(max_pixels)
                mve_output_scale = int(math.ceil(math.log(ratio) / math.log(4.0)))

            dmrecon_config = [
                "-s%s" % mve_output_scale,
	            "--progress=fancy",
                "--local-neighbors=2",
                # "--filter-width=3",
            ]

            # Run MVE's dmrecon
            log.ODM_INFO("Running dense reconstruction. This might take a while.")
            
            # TODO: find out why MVE is crashing at random
            # MVE *seems* to have a race condition, triggered randomly, regardless of dataset
            # https://gist.github.com/pierotofy/6c9ce93194ba510b61e42e3698cfbb89
            # Temporary workaround is to retry the reconstruction until we get it right
            # (up to a certain number of retries).
            retry_count = 1
            while retry_count < 10:
                try:
                    system.run('%s %s "%s"' % (context.dmrecon_path, ' '.join(dmrecon_config), tree.mve), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
                    break
                except Exception as e:
                    if str(e) == "Child returned 134" or str(e) == "Child returned 1":
                        retry_count += 1
                        log.ODM_WARNING("Caught error code, retrying attempt #%s" % retry_count)
                    else:
                        raise e

            self.update_progress(90)

            scene2pset_config = [
                "-F%s" % mve_output_scale
            ]

            # run scene2pset
            system.run('%s %s "%s" "%s"' % (context.scene2pset_path, ' '.join(scene2pset_config), tree.mve, tree.mve_model), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
        
            # run cleanmesh (filter points by MVE confidence threshold)
            if args.mve_confidence > 0:
                mve_filtered_model = io.related_file_path(tree.mve_model, postfix=".filtered")
                system.run('%s -t%s --no-clean --component-size=0 "%s" "%s"' % (context.meshclean_path, min(1.0, args.mve_confidence), tree.mve_model, mve_filtered_model), env_vars={'OMP_NUM_THREADS': args.max_concurrency})

                if io.file_exists(mve_filtered_model):
                    os.remove(tree.mve_model)
                    os.rename(mve_filtered_model, tree.mve_model)
                else:
                    log.ODM_WARNING("Couldn't filter MVE model (%s does not exist)." % mve_filtered_model)
        
            if args.optimize_disk_space:
                shutil.rmtree(tree.mve_views)
        else:
            log.ODM_WARNING('Found a valid MVE reconstruction file in: %s' %
                            tree.mve_model)