Merge pull request #1461 from MikeCernea/PointcloudCompleteness

PatchMatch improvements

opendm/config.py

@@ -395,6 +395,21 @@ def config(argv=None, parser=None):
                         help='Improve the accuracy of the point cloud by computing geometrically consistent depthmaps. This increases processing time, but can improve results in urban scenes. '
                              'Default: %(default)s')    
 
+    parser.add_argument('--pc-sharp',
+                        action=StoreTrue,
+                        nargs=0,
+                        default=False,
+                        help='Improve the accuracy of the point cloud by applying filters to sharpen the pointcloud, but reduces the completeness of the reconstruction. '
+                             'Default: %(default)s')    
+
+    parser.add_argument('--pc-subreslevel',
+                        metavar='<positive integer>',
+                        action=StoreValue,
+                        default=2,
+                        type=int,
+                        help=('The number of lower resolutions to process before estimating output resolution depthmap. '
+                              'Default: %(default)s'))
+
     parser.add_argument('--smrf-scalar',
                         metavar='<positive float>',
                         action=StoreValue,

stages/openmvs.py

@@ -59,13 +59,16 @@ class ODMOpenMVSStage(types.ODM_Stage):
             
             log.ODM_INFO("Estimating depthmaps")
             number_views_fuse = 2
+            densify_ini_file = os.path.join(tree.openmvs, 'Densify.ini')
 
             config = [
                 " --resolution-level %s" % int(resolution_level),
+                '--dense-config-file "%s"' % densify_ini_file,
                 "--min-resolution %s" % depthmap_resolution,
                 "--max-resolution %s" % int(outputs['undist_image_max_size']),
                 "--max-threads %s" % args.max_concurrency,
                 "--number-views-fuse %s" % number_views_fuse,
+                "--sub-resolution-levels %s" % args.pc_subreslevel,
                 '-w "%s"' % depthmaps_dir, 
                 "-v 0"
             ]
@@ -73,7 +76,7 @@ class ODMOpenMVSStage(types.ODM_Stage):
             gpu_config = []
 
             if not has_gpu():
-                gpu_config.append("--cuda-device -1")
+                gpu_config.append("--cuda-device -2")
 
             if args.pc_tile:
                 config.append("--fusion-mode 1")
@@ -81,6 +84,13 @@ class ODMOpenMVSStage(types.ODM_Stage):
             if not args.pc_geometric:
                 config.append("--geometric-iters 0")
 
+            if args.pc_sharp:
+                with open(densify_ini_file, 'w+') as f:
+                    f.write("Optimize = 7\n")
+            else:
+                with open(densify_ini_file, 'w+') as f:
+                    f.write("Optimize = 3\n")
+
             def run_densify():
                 system.run('"%s" "%s" %s' % (context.omvs_densify_path, 
                                         openmvs_scene_file,
@@ -93,7 +103,7 @@ class ODMOpenMVSStage(types.ODM_Stage):
                 # try to run it again without GPU
                 if e.errorCode == 1 and len(gpu_config) == 0:
                     log.ODM_WARNING("OpenMVS failed with GPU, is your graphics card driver up to date? Falling back to CPU.")
-                    gpu_config.append("--cuda-device -1")
+                    gpu_config.append("--cuda-device -2")
                     run_densify()
                 else:
                     raise e