Convert from orb_slam to pmts

modules/odm_slam/src/orb_slam_to_opensfm.py

@@ -128,7 +128,8 @@ if __name__ == '__main__':
 
     r = {
         'cameras': {},
-        'shots': {}
+        'shots': {},
+        'points': {},
     }
 
     r['cameras']['slamcam'] = camera_from_config(args.video, args.config)

opendm/context.py

@@ -16,6 +16,9 @@ sys.path.append(pyopencv_path)
 # define opensfm path
 opensfm_path = os.path.join(superbuild_path, "src/opensfm")
 
+# define orb_slam2 path
+orb_slam2_path = os.path.join(superbuild_path, "src/orb_slam2")
+
 # define pmvs path
 cmvs_path = os.path.join(superbuild_path, "install/bin/cmvs")
 cmvs_opts_path = os.path.join(superbuild_path, "install/bin/genOption")
@@ -26,6 +29,7 @@ txt2las_path = os.path.join(superbuild_path, 'src/las-tools/bin')
 
 # define odm modules path
 odm_modules_path = os.path.join(root_path, "build/bin")
+odm_modules_src_path = os.path.join(root_path, "modules")
 
 # Define supported image extensions
 supported_extensions = {'.jpg','.jpeg','.png'}

scripts/odm_slam.py

@@ -3,6 +3,7 @@ import os
 import ecto
 
 from opendm import log
+from opendm import io
 from opendm import system
 from opendm import context
 
@@ -33,12 +34,52 @@ class ODMSlamCell(ecto.Cell):
         system.mkdir_p(tree.opensfm)
         system.mkdir_p(tree.pmvs)
 
-        # run meshing binary
-        system.run(
-            '{}/odm_slam '
-            'SuperBuild/src/orb_slam2/Vocabulary/ORBvoc.txt '
-            'SuperBuild/src/orb_slam2/Examples/Monocular/TUM1.yaml '
-            '{}'.format(context.odm_modules_path, video))
+        vocabulary = os.path.join(context.orb_slam2_path, 'Vocabulary/ORBvoc.txt')
+        config_file = os.path.join(context.orb_slam2_path, 'Examples/Monocular/TUM1.yaml')
+        orb_slam_cmd = os.path.join(context.odm_modules_path, 'odm_slam')
+
+        # run slam binary
+        system.run(' '.join([
+            'cd {} &&'.format(tree.opensfm),
+            orb_slam_cmd,
+            vocabulary,
+            config_file,
+            video,
+        ]))
+
+        system.run(' '.join([
+            'cd {} &&'.format(tree.opensfm),
+            'PYTHONPATH={}:{}'.format(context.pyopencv_path, context.opensfm_path),
+            'python',
+            os.path.join(context.odm_modules_src_path, 'odm_slam/src/orb_slam_to_opensfm.py'),
+            video,
+            os.path.join(tree.opensfm, 'KeyFrameTrajectory.txt'),
+            config_file,
+        ]))
+
+
+
+        ### check if reconstruction was exported to bundler before
+
+        if not io.file_exists(tree.opensfm_bundle_list) or rerun_cell:
+            # 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))
+
+
+        ### check if reconstruction was exported to pmvs before
+
+        if not io.file_exists(tree.pmvs_visdat) or rerun_cell:
+            # run PMVS converter
+            system.run('PYTHONPATH=%s %s/bin/export_pmvs %s --output %s' % 
+                (context.pyopencv_path, context.opensfm_path, tree.opensfm, tree.pmvs))
+        else:
+            log.ODM_WARNING('Found a valid CMVS file in: %s' % tree.pmvs_visdat)
 
         log.ODM_INFO('Running OMD Slam Cell - Finished')
-        return ecto.OK if args['end_with'] != 'opensfm' else ecto.QUIT
+        return ecto.OK if args['end_with'] != 'odm_slam' else ecto.QUIT
+
+