Pypopsift support

SuperBuild/CMakeLists.txt

@@ -137,6 +137,7 @@ set(custom_libs OpenSfM
 				MvsTexturing
 				OpenMVS
 				FPCFilter
+				PyPopsift
 )
 
 # Build entwine only on Linux

SuperBuild/cmake/External-FPCFilter.cmake

@@ -0,0 +1,27 @@
+set(_proj_name fpcfilter)
+set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
+
+ExternalProject_Add(${_proj_name}
+  PREFIX            ${_SB_BINARY_DIR}
+  TMP_DIR           ${_SB_BINARY_DIR}/tmp
+  STAMP_DIR         ${_SB_BINARY_DIR}/stamp
+  #--Download step--------------
+  DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
+  GIT_REPOSITORY    https://github.com/OpenDroneMap/FPCFilter
+  GIT_TAG           main
+  #--Update/Patch step----------
+  UPDATE_COMMAND    ""
+  #--Configure step-------------
+  SOURCE_DIR        ${SB_SOURCE_DIR}/${_proj_name}
+  CMAKE_ARGS
+	-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
+    -DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
+  #--Build step-----------------
+  BINARY_DIR        ${_SB_BINARY_DIR}
+  #--Install step---------------
+  INSTALL_DIR       ${SB_INSTALL_DIR}
+  #--Output logging-------------
+  LOG_DOWNLOAD      OFF
+  LOG_CONFIGURE     OFF
+  LOG_BUILD         OFF
+)

SuperBuild/cmake/External-PyPopsift.cmake

@@ -0,0 +1,37 @@
+set(_SB_BINARY_DIR "${SB_BINARY_DIR}/pypopsift")
+
+# Pypopsift
+find_package(CUDA 7.0)
+
+if(CUDA_FOUND)
+    ExternalProject_Add(pypopsift
+        DEPENDS           opensfm
+        PREFIX            ${_SB_BINARY_DIR}
+        TMP_DIR           ${_SB_BINARY_DIR}/tmp
+        STAMP_DIR         ${_SB_BINARY_DIR}/stamp
+        #--Download step--------------
+        DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
+        GIT_REPOSITORY    https://github.com/uav4geo/pypopsift
+        GIT_TAG           270
+        #--Update/Patch step----------
+        UPDATE_COMMAND    ""
+        #--Configure step-------------
+        SOURCE_DIR        ${SB_SOURCE_DIR}/pypopsift
+        CMAKE_ARGS
+            -DOUTPUT_DIR=${SB_INSTALL_DIR}/bin/opensfm/opensfm
+            -DCMAKE_INSTALL_PREFIX=${SB_INSTALL_DIR}
+            ${GPU_CMAKE_ARGS}
+            ${WIN32_CMAKE_ARGS}
+            ${ARM64_CMAKE_ARGS}
+        #--Build step-----------------
+        BINARY_DIR        ${_SB_BINARY_DIR}
+        #--Install step---------------
+        INSTALL_DIR       ${SB_INSTALL_DIR}
+        #--Output logging-------------
+        LOG_DOWNLOAD      OFF
+        LOG_CONFIGURE     OFF
+        LOG_BUILD         OFF
+        )
+else()
+    message(WARNING "Could not find CUDA >= 7.0")
+endif()

configure.sh

@@ -130,7 +130,7 @@ installreqs() {
     set -e
     pip install --ignore-installed -r requirements.txt
     if [ ! -z "$GPU_INSTALL" ]; then
-        pip install --ignore-installed -r requirements.gpu.txt
+        # Nothing, add extra GPU-related build instructions here
     fi
     set +e
 }

gpu.Dockerfile

@@ -37,9 +37,6 @@ COPY --from=builder /code /code
 # Copy the Python libraries installed via pip from the builder
 COPY --from=builder /usr/local /usr/local
 
-# Install OpenCL Drivers
-RUN apt update && apt install -y nvidia-opencl-icd-340 intel-opencl-icd
-
 # Install shared libraries that we depend on via APT, but *not*
 # the -dev packages to save space!
 # Also run a smoke test

opendm/config.py

@@ -162,9 +162,7 @@ def config(argv=None, parser=None):
                         default=8,
                         type=int,
                         help='Number of nearest images to pre-match based on GPS '
-                             'exif data. Set to 0 to skip pre-matching. '
+                             'exif data. Set to 0 to skip pre-matching. Default: %(default)s')
-                             'Neighbors works together with Distance parameter, '
-                             'set both to 0 to not use pre-matching. Default: %(default)s')
 
     parser.add_argument('--use-fixed-camera-params',
                         action=StoreTrue,
@@ -236,7 +234,7 @@ def config(argv=None, parser=None):
                     action=StoreValue,
                     default='incremental',
                     choices=['incremental', 'triangulation'],
-                    help=('Choose the structure from motion algorithm. If camera positions and angles are available, triangulation is significantly faster for aerial datasets. '
+                    help=('Choose the structure from motion algorithm. For aerial datasets, if camera GPS positions and angles are available, triangulation is faster. '
                         'Can be one of: %(choices)s. Default: '
                         '%(default)s'))
 
@@ -770,9 +768,9 @@ def config(argv=None, parser=None):
     if args.fast_orthophoto:
       log.ODM_INFO('Fast orthophoto is turned on, automatically setting --skip-3dmodel')
       args.skip_3dmodel = True
-      if not 'sfm_algorithm_is_set' in args:
+    #   if not 'sfm_algorithm_is_set' in args:
-        log.ODM_INFO('Fast orthophoto is turned on, automatically setting --sfm-algorithm to triangulation')
+    #     log.ODM_INFO('Fast orthophoto is turned on, automatically setting --sfm-algorithm to triangulation')
-        args.sfm_algorithm = 'triangulation'
+    #     args.sfm_algorithm = 'triangulation'
 
     if args.pc_rectify and not args.pc_classify:
       log.ODM_INFO("Ground rectify is turned on, automatically turning on point cloud classification")

opendm/gpu.py

@@ -1,5 +1,6 @@
 import os
 import sys
+import shutil
 from opendm import log
 from repoze.lru import lru_cache
 
@@ -7,38 +8,29 @@ def gpu_disabled_by_user():
     return bool(os.environ.get('ODM_NO_GPU'))
 
 @lru_cache(maxsize=None)
-def has_gpus():
+def has_popsift():
+    try:
+        from opensfm import pypopsift
+        return True
+    except:
+        return False
+
+@lru_cache(maxsize=None)
+def has_gpu():
     if gpu_disabled_by_user():
         log.ODM_INFO("Disabling GPU features (ODM_NO_GPU is set)")
         return False
 
-    try:
-        import pyopencl
-    except:
-        return False
-
-    try:
-        platforms = pyopencl.get_platforms()
-        for p in platforms:
-            log.ODM_INFO("Found GPU device: %s" % p.name)
-
-        return len(platforms) > 0
-    except Exception as e:
-        return False
-
-@lru_cache(maxsize=None)
-def windows_no_cuda():
-    """
-    Check if CUDA lib is available on Windows
-    Returns true if OS is windows and CUDA is not found.
-    """
     if sys.platform == 'win32':
         nvcuda_path = os.path.join(os.environ.get('SYSTEMROOT'), 'system32', 'nvcuda.dll')
         if os.path.isfile(nvcuda_path):
-            return False
+            return True
         else:
             log.ODM_INFO("No CUDA drivers detected, using CPU")
-            return True
+            return False
     else:
-        return False
+        if shutil.which('nvidia-smi') is not None:
-
+            return True
+        else:
+            log.ODM_INFO("nvidia-smi not found in PATH, using CPU")
+            return False

opendm/osfm.py

@@ -21,7 +21,7 @@ from opensfm.actions import undistort
 from opensfm.dataset import DataSet
 from opensfm import report
 from opendm.multispectral import get_photos_by_band
-from opendm.gpu import has_gpus
+from opendm.gpu import has_popsift, has_gpu
 from opensfm import multiview, exif
 from opensfm.actions.export_geocoords import _transform
 
@@ -164,6 +164,7 @@ class OSFMContext:
                 "feature_min_frames: %s" % args.min_num_features,
                 "processes: %s" % args.max_concurrency,
                 "matching_gps_neighbors: %s" % args.matcher_neighbors,
+                "matching_gps_distance: 0",
                 "matching_graph_rounds: 50",
                 "optimize_camera_parameters: %s" % ('no' if args.use_fixed_camera_params or args.cameras else 'yes'),
                 "reconstruction_algorithm: %s" % (args.sfm_algorithm),
@@ -200,9 +201,8 @@ class OSFMContext:
             config.append("matcher_type: %s" % osfm_matchers[matcher_type])
 
             # GPU acceleration?
-            if has_gpus() and feature_type == "SIFT" and (not 'min_num_features_is_set' in args):
+            if has_gpu() and has_popsift() and feature_type == "SIFT":
                 log.ODM_INFO("Using GPU for extracting SIFT features")
-                log.ODM_INFO("--min-num-features will be ignored")
                 feature_type = "SIFT_GPU"
             
             config.append("feature_type: %s" % feature_type)

requirements.gpu.txt

@@ -1,2 +0,0 @@
-silx>=0.12.0
-pyopencl==2021.1.1

stages/dataset.py

@@ -173,3 +173,11 @@ class ODMLoadDatasetStage(types.ODM_Stage):
             else:
                 args.boundary = None
                 log.ODM_WARNING("Reconstruction is not georeferenced, but boundary file provided (will ignore boundary file)")
+
+        # If sfm-algorithm is triangulation, check if photos have OPK
+        if args.sfm_algorithm == 'triangulation':
+            for p in photos:
+                if not p.has_opk():
+                    log.ODM_WARNING("No omega/phi/kappa angles found in input photos (%s), switching sfm-algorithm to incremental" % p.filename)
+                    args.sfm_algorithm = 'incremental'
+                    break

stages/openmvs.py

@@ -6,7 +6,7 @@ from opendm import system
 from opendm import context
 from opendm import point_cloud
 from opendm import types
-from opendm.gpu import gpu_disabled_by_user, windows_no_cuda
+from opendm.gpu import has_gpu
 from opendm.utils import get_depthmap_resolution
 from opendm.osfm import OSFMContext
 from opendm.multispectral import get_primary_band_name
@@ -73,7 +73,7 @@ class ODMOpenMVSStage(types.ODM_Stage):
 
             gpu_config = []
 
-            if gpu_disabled_by_user() or windows_no_cuda():
+            if not has_gpu():
                 gpu_config.append("--cuda-device -1")
 
             if args.pc_tile: