kopia lustrzana https://github.com/OpenDroneMap/ODM
Dense reconstruction POC
Piero Toffanin
rodzic
3087af2775
commit
11fbc561d6
166
opendm/osfm.py
166
opendm/osfm.py
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@ -2,7 +2,7 @@
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OpenSfM related utils
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"""
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import os
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import os, shutil, sys
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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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@ -47,78 +47,136 @@ def reconstruct(opensfm_project_path, rerun=False):
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raise Exception("Reconstruction could not be generated")
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def setup(args, images_path, opensfm_path, photos, gcp_path=None, append_config = []):
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def setup(args, images_path, opensfm_path, photos, gcp_path=None, append_config = [], rerun=False):
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"""
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Setup a OpenSfM project
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"""
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if rerun and io.dir_exists(opensfm_path):
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shutil.rmtree(opensfm_path)
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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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if not io.file_exists(list_path) or rerun:
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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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# TODO: does this need to be a relative path?
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# TODO: does this need to be a relative path?
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# create config file for OpenSfM
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config = [
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"use_exif_size: no",
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"feature_process_size: %s" % args.resize_to,
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"feature_min_frames: %s" % args.min_num_features,
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"processes: %s" % args.max_concurrency,
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"matching_gps_neighbors: %s" % args.matcher_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 args.use_fixed_camera_params else 'yes')
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]
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# create config file for OpenSfM
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config = [
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"use_exif_size: no",
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"feature_process_size: %s" % args.resize_to,
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"feature_min_frames: %s" % args.min_num_features,
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"processes: %s" % args.max_concurrency,
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"matching_gps_neighbors: %s" % args.matcher_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 args.use_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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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" % args.matcher_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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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" % args.matcher_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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log.ODM_WARNING("%s already exists, not rerunning OpenSfM setup" % list_path)
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def feature_matching(opensfm_project_path, rerun=False):
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matched_done_file = io.join_paths(opensfm_project_path, 'matching_done.txt')
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if not io.file_exists(matched_done_file) or rerun:
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if not feature_matching_done(opensfm_project_path) or rerun:
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run('extract_metadata', opensfm_project_path)
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# TODO: distributed workflow should do these two steps independently
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run('detect_features', opensfm_project_path)
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run('match_features', opensfm_project_path)
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with open(matched_done_file, 'w') as fout:
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fout.write("Matching done!\n")
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mark_feature_matching_done(opensfm_project_path)
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else:
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log.ODM_WARNING('Found a feature matching done progress file in: %s' %
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matched_done_file)
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feature_matching_done_file(opensfm_project_path))
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def feature_matching_done_file(opensfm_project_path):
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return io.join_paths(opensfm_project_path, 'matching_done.txt')
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def mark_feature_matching_done(opensfm_project_path):
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with open(feature_matching_done_file(opensfm_project_path), 'w') as fout:
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fout.write("Matching done!\n")
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def feature_matching_done(opensfm_project_path):
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return io.file_exists(feature_matching_done_file(opensfm_project_path))
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def get_submodel_argv(args, submodels_path, submodel_name):
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"""
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:return the same as argv, but removing references to --split,
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setting/replacing --project-path and name
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"""
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argv = sys.argv
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result = [argv[0]]
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i = 1
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project_path_found = False
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project_name_added = False
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while i < len(argv):
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arg = argv[i]
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# Last?
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if i == len(argv) - 1:
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# Project name?
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if arg == args.name:
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result.append(submodel_name)
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project_name_added = True
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else:
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result.append(arg)
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i += 1
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elif arg == '--project-path':
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result.append(arg)
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result.append(submodels_path)
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project_path_found = True
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i += 2
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elif arg == '--split':
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i += 2
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else:
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result.append(arg)
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i += 1
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if not project_path_found:
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result.append('--project-path')
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result.append(submodel_project_path)
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if not project_name_added:
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result.append(submodel_name)
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return result
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3
run.py
3
run.py
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@ -36,7 +36,8 @@ if __name__ == '__main__':
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quote(os.path.join(args.project_path, "odm_25dmeshing")),
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quote(os.path.join(args.project_path, "odm_25dtexturing")),
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quote(os.path.join(args.project_path, "mve")),
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]) + "")
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quote(os.path.join(args.project_path, "submodels")),
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]))
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app = ODMApp(args)
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app.execute()
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@ -30,14 +30,13 @@ class ODMOpenSfMStage(types.ODM_Stage):
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# check if reconstruction was done before
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# TODO: more granularity for each step (setup/featurematch/reconstruction/etc.)
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osfm.setup(args, tree.dataset_raw, tree.opensfm, photos, gcp_path=tree.odm_georeferencing_gcp, rerun=self.rerun())
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osfm.feature_matching(tree.opensfm, self.rerun())
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osfm.reconstruct(tree.opensfm, self.rerun())
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if not io.file_exists(output_file) or self.rerun():
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osfm.setup(args, tree.dataset_raw, tree.opensfm, photos, gcp_path=tree.odm_georeferencing_gcp)
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osfm.feature_matching(tree.opensfm, self.rerun())
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osfm.reconstruction(tree.opensfm, self.rerun())
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# Always export VisualSFM's reconstruction and undistort images
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# as we'll use these for texturing (after GSD estimation and resizing)
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if not args.ignore_gsd:
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@ -1,9 +1,11 @@
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import os
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import os, sys
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from opendm import log
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from opendm import osfm
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from opendm import types
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from opendm import io
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from opendm import system
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from opensfm.large import metadataset
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from pipes import quote
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class ODMSplitStage(types.ODM_Stage):
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def process(self, args, outputs):
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@ -23,7 +25,7 @@ class ODMSplitStage(types.ODM_Stage):
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"submodel_overlap: %s" % args.split_overlap,
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]
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osfm.setup(args, tree.dataset_raw, tree.opensfm, photos, gcp_path=tree.odm_georeferencing_gcp, append_config=config)
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osfm.setup(args, tree.dataset_raw, tree.opensfm, photos, gcp_path=tree.odm_georeferencing_gcp, append_config=config, rerun=self.rerun())
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osfm.feature_matching(tree.opensfm, self.rerun())
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@ -50,14 +52,28 @@ class ODMSplitStage(types.ODM_Stage):
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for sp in submodel_paths:
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log.ODM_INFO("Reconstructing %s" % sp)
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osfm.reconstruct(sp, self.rerun())
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#osfm.reconstruct(sp, self.rerun())
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# Align
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log.ODM_INFO("Aligning submodels...")
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osfm.run('align_submodels', tree.opensfm)
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#osfm.run('align_submodels', tree.opensfm)
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# Dense reconstruction for each submodel
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# TODO
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for sp in submodel_paths:
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# TODO: network workflow
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# We have already done matching
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osfm.mark_feature_matching_done(sp)
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submodel_name = os.path.basename(os.path.abspath(os.path.join(sp, "..")))
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log.ODM_INFO("====================")
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log.ODM_INFO("Processing %s" % submodel_name)
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log.ODM_INFO("====================")
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argv = osfm.get_submodel_argv(args, tree.submodels_path, submodel_name)
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system.run(" ".join(map(quote, argv)), env_vars=os.environ.copy())
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exit(1)
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else:
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