kopia lustrzana https://github.com/OpenDroneMap/ODM
OpenCV 3 update, removed bundler export, GSD optimization adjustments
Former-commit-id: 0ff220e47f
pull/1161/head
Piero Toffanin
rodzic
12467dc225
commit
16b410df4b
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@ -7,8 +7,7 @@ ExternalProject_Add(${_proj_name}
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STAMP_DIR ${_SB_BINARY_DIR}/stamp
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#--Download step--------------
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DOWNLOAD_DIR ${SB_DOWNLOAD_DIR}
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URL https://github.com/Itseez/opencv/archive/2.4.11.zip
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URL_MD5 b517e83489c709eee1d8be76b16976a7
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URL https://github.com/opencv/opencv/archive/3.4.6.zip
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#--Update/Patch step----------
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UPDATE_COMMAND ""
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#--Configure step-------------
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@ -70,9 +70,9 @@ def config():
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metavar='<integer>',
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default=2048,
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type=int,
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help='Resizes images by the largest side for feature extraction. '
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help='Resizes images by the largest side for feature extraction purposes only. '
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'Set to -1 to disable. This does not affect the final orthophoto '
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' resolution quality. Default: %(default)s')
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' resolution quality and will not resize the original images. Default: %(default)s')
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parser.add_argument('--end-with', '-e',
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metavar='<string>',
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@ -153,11 +153,11 @@ def config():
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parser.add_argument('--camera-model',
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metavar='<string>',
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default='auto',
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choices=['auto', 'perspective', 'brown', 'fisheye'],
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choices=['auto', 'perspective', 'brown', 'fisheye', 'spherical'],
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help=('Set a camera projection type. Manually setting a value '
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'can help improve geometric undistortion. By default the application '
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'tries to determine a projection type from the images metadata. Can be '
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'set to one of: [auto, perspective, brown, fisheye]. Default: '
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'set to one of: [auto, perspective, brown, fisheye, spherical]. Default: '
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'%(default)s'))
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parser.add_argument('--max-concurrency',
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@ -23,7 +23,7 @@ class OSFMContext:
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def export_bundler(self, destination_bundle_file, rerun=False):
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if not io.file_exists(destination_bundle_file) or rerun:
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# convert back to bundler's format
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system.run('%s/bin/export_bundler "%s"' %
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system.run('%s/bin/export_bundler --undistorted "%s"' %
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(context.opensfm_path, self.opensfm_project_path))
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else:
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log.ODM_WARNING('Found a valid Bundler file in: %s' % destination_bundle_file)
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@ -122,7 +122,6 @@ class OSFMContext:
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if not has_gps:
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log.ODM_INFO("No GPS information, using BOW matching")
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config.append("matcher_type: WORDS")
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config.append("matching_bow_neighbors: %s" % args.matcher_neighbors)
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if has_alt:
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log.ODM_INFO("Altitude data detected, enabling it for GPS alignment")
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@ -234,30 +233,6 @@ class OSFMContext:
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else:
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log.ODM_WARNING("Tried to update configuration, but %s does not exist." % cfg_file)
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def save_absolute_image_list_to(self, file):
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"""
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Writes a copy of the image_list.txt file and makes sure that all paths
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written in it are absolute paths and not relative paths.
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"""
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image_list_file = self.path("image_list.txt")
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if io.file_exists(image_list_file):
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with open(image_list_file, 'r') as f:
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content = f.read()
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lines = []
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for line in map(str.strip, content.split('\n')):
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if line and not line.startswith("/"):
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line = os.path.abspath(os.path.join(self.opensfm_project_path, line))
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lines.append(line)
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with open(file, 'w') as f:
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f.write("\n".join(lines))
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log.ODM_INFO("Wrote %s with absolute paths" % file)
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else:
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log.ODM_WARNING("No %s found, cannot create %s" % (image_list_file, file))
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def name(self):
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return os.path.basename(os.path.abspath(self.path("..")))
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@ -259,9 +259,6 @@ class ODM_Tree(object):
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# mve
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self.mve_model = io.join_paths(self.mve, 'mve_dense_point_cloud.ply')
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self.mve_path = io.join_paths(self.opensfm, 'mve')
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self.mve_image_list = io.join_paths(self.mve_path, 'list.txt')
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self.mve_bundle = io.join_paths(self.mve_path, 'bundle/bundle.out')
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self.mve_views = io.join_paths(self.mve, 'views')
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# filter points
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@ -21,19 +21,6 @@ class ODMMveStage(types.ODM_Stage):
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# check if reconstruction was done before
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if not io.file_exists(tree.mve_model) or self.rerun():
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# cleanup if a rerun
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if io.dir_exists(tree.mve_path) and self.rerun():
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shutil.rmtree(tree.mve_path)
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# make bundle directory
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if not io.file_exists(tree.mve_bundle):
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system.mkdir_p(tree.mve_path)
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system.mkdir_p(io.join_paths(tree.mve_path, 'bundle'))
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octx = OSFMContext(tree.opensfm)
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octx.save_absolute_image_list_to(tree.mve_image_list)
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io.copy(tree.opensfm_bundle, tree.mve_bundle)
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# mve makescene wants the output directory
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# to not exists before executing it (otherwise it
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# will prompt the user for confirmation)
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@ -42,22 +29,16 @@ class ODMMveStage(types.ODM_Stage):
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# run mve makescene
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if not io.dir_exists(tree.mve_views):
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system.run('%s "%s" "%s"' % (context.makescene_path, tree.mve_path, tree.mve), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
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system.run('%s "%s" "%s"' % (context.makescene_path, tree.opensfm_reconstruction_nvm, tree.mve), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
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self.update_progress(10)
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# Compute mve output scale based on depthmap_resolution
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max_width = 0
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max_height = 0
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for photo in photos:
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max_width = max(photo.width, max_width)
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max_height = max(photo.height, max_height)
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max_pixels = args.depthmap_resolution * args.depthmap_resolution
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if max_width * max_height <= max_pixels:
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if outputs['undist_image_max_size'] * outputs['undist_image_max_size'] <= max_pixels:
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mve_output_scale = 0
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else:
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ratio = float(max_width * max_height) / float(max_pixels)
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ratio = float(outputs['undist_image_max_size'] * outputs['undist_image_max_size']) / float(max_pixels)
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mve_output_scale = int(math.ceil(math.log(ratio) / math.log(4.0)))
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dmrecon_config = [
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@ -44,11 +44,19 @@ class ODMOpenSfMStage(types.ODM_Stage):
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output_file = tree.opensfm_reconstruction
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updated_config_flag_file = octx.path('updated_config.txt')
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# Make sure it's capped by the depthmap-resolution arg,
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# since the undistorted images are used for MVS
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outputs['undist_image_max_size'] = max(
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gsd.image_max_size(photos, args.orthophoto_resolution, tree.opensfm_reconstruction, ignore_gsd=args.ignore_gsd),
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args.depthmap_resolution
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)
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if not io.file_exists(updated_config_flag_file) or self.rerun():
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octx.update_config({'undistorted_image_max_size': gsd.image_max_size(photos, args.orthophoto_resolution, tree.opensfm_reconstruction, ignore_gsd=args.ignore_gsd)})
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octx.update_config({'undistorted_image_max_size': outputs['undist_image_max_size']})
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octx.touch(updated_config_flag_file)
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# These will be used for texturing
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# These will be used for texturing / MVS
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undistorted_images_path = octx.path("undistorted")
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if not io.dir_exists(undistorted_images_path) or self.rerun():
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@ -59,7 +67,7 @@ class ODMOpenSfMStage(types.ODM_Stage):
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self.update_progress(80)
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if not io.file_exists(tree.opensfm_reconstruction_nvm) or self.rerun():
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octx.run('export_visualsfm --undistorted')
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octx.run('export_visualsfm --undistorted --points')
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else:
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log.ODM_WARNING('Found a valid OpenSfM NVM reconstruction file in: %s' %
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tree.opensfm_reconstruction_nvm)
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