OpenCV 3 update, removed bundler export, GSD optimization adjustments

Former-commit-id: 0ff220e47f

SuperBuild/cmake/External-OpenCV.cmake

@@ -7,8 +7,7 @@ ExternalProject_Add(${_proj_name}
   STAMP_DIR         ${_SB_BINARY_DIR}/stamp
   #--Download step--------------
   DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
-  URL               https://github.com/Itseez/opencv/archive/2.4.11.zip
+  URL               https://github.com/opencv/opencv/archive/3.4.6.zip
-  URL_MD5           b517e83489c709eee1d8be76b16976a7
   #--Update/Patch step----------
   UPDATE_COMMAND    ""
   #--Configure step-------------

opendm/config.py

@@ -70,9 +70,9 @@ def config():
                         metavar='<integer>',
                         default=2048,
                         type=int,
-                        help='Resizes images by the largest side for feature extraction. '
+                        help='Resizes images by the largest side for feature extraction purposes only. '
                              'Set to -1 to disable. This does not affect the final orthophoto '
-                             ' resolution quality. Default:  %(default)s')
+                             ' resolution quality and will not resize the original images. Default:  %(default)s')
 
     parser.add_argument('--end-with', '-e',
                         metavar='<string>',
@@ -153,11 +153,11 @@ def config():
     parser.add_argument('--camera-model',
             metavar='<string>',
             default='auto',
-            choices=['auto', 'perspective', 'brown', 'fisheye'],
+            choices=['auto', 'perspective', 'brown', 'fisheye', 'spherical'],
             help=('Set a camera projection type. Manually setting a value '
                 'can help improve geometric undistortion. By default the application '
                 'tries to determine a projection type from the images metadata. Can be '
-                'set to one of: [auto, perspective, brown, fisheye]. Default: '
+                'set to one of: [auto, perspective, brown, fisheye, spherical]. Default: '
                 '%(default)s'))
 
     parser.add_argument('--max-concurrency',

opendm/osfm.py

@@ -23,7 +23,7 @@ class OSFMContext:
     def export_bundler(self, destination_bundle_file, rerun=False):
         if not io.file_exists(destination_bundle_file) or rerun:
                 # convert back to bundler's format
-                system.run('%s/bin/export_bundler "%s"' %
+                system.run('%s/bin/export_bundler --undistorted "%s"' %
                         (context.opensfm_path, self.opensfm_project_path))
         else:
             log.ODM_WARNING('Found a valid Bundler file in: %s' % destination_bundle_file)
@@ -122,7 +122,6 @@ class OSFMContext:
             if not has_gps:
                 log.ODM_INFO("No GPS information, using BOW matching")
                 config.append("matcher_type: WORDS")
-                config.append("matching_bow_neighbors: %s" % args.matcher_neighbors)
 
             if has_alt:
                 log.ODM_INFO("Altitude data detected, enabling it for GPS alignment")
@@ -234,30 +233,6 @@ class OSFMContext:
         else:
             log.ODM_WARNING("Tried to update configuration, but %s does not exist." % cfg_file)
 
-    def save_absolute_image_list_to(self, file):
-        """
-        Writes a copy of the image_list.txt file and makes sure that all paths
-        written in it are absolute paths and not relative paths.
-        """
-        image_list_file = self.path("image_list.txt")
-
-        if io.file_exists(image_list_file):
-            with open(image_list_file, 'r') as f:
-                content = f.read()
-            
-            lines = []
-            for line in map(str.strip, content.split('\n')):
-                if line and not line.startswith("/"):
-                    line = os.path.abspath(os.path.join(self.opensfm_project_path, line))
-                lines.append(line)
-
-            with open(file, 'w') as f:
-                f.write("\n".join(lines))
-
-            log.ODM_INFO("Wrote %s with absolute paths" % file)
-        else:
-            log.ODM_WARNING("No %s found, cannot create %s" % (image_list_file, file))
-    
     def name(self):
         return os.path.basename(os.path.abspath(self.path("..")))
 

opendm/types.py

@@ -259,9 +259,6 @@ class ODM_Tree(object):
 
         # mve
         self.mve_model = io.join_paths(self.mve, 'mve_dense_point_cloud.ply')
-        self.mve_path = io.join_paths(self.opensfm, 'mve')
-        self.mve_image_list = io.join_paths(self.mve_path, 'list.txt')
-        self.mve_bundle = io.join_paths(self.mve_path, 'bundle/bundle.out')
         self.mve_views = io.join_paths(self.mve, 'views')
 
         # filter points

stages/mve.py

@@ -21,19 +21,6 @@ class ODMMveStage(types.ODM_Stage):
 
         # check if reconstruction was done before
         if not io.file_exists(tree.mve_model) or self.rerun():
-            # cleanup if a rerun
-            if io.dir_exists(tree.mve_path) and self.rerun():
-                shutil.rmtree(tree.mve_path)
-
-            # make bundle directory
-            if not io.file_exists(tree.mve_bundle):
-                system.mkdir_p(tree.mve_path)
-                system.mkdir_p(io.join_paths(tree.mve_path, 'bundle'))
-
-                octx = OSFMContext(tree.opensfm)
-                octx.save_absolute_image_list_to(tree.mve_image_list)
-                io.copy(tree.opensfm_bundle, tree.mve_bundle)
-
             # mve makescene wants the output directory
             # to not exists before executing it (otherwise it
             # will prompt the user for confirmation)
@@ -42,22 +29,16 @@ class ODMMveStage(types.ODM_Stage):
 
             # run mve makescene
             if not io.dir_exists(tree.mve_views):
-                system.run('%s "%s" "%s"' % (context.makescene_path, tree.mve_path, tree.mve), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
+                system.run('%s "%s" "%s"' % (context.makescene_path, tree.opensfm_reconstruction_nvm, tree.mve), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
 
             self.update_progress(10)
 
             # Compute mve output scale based on depthmap_resolution
-            max_width = 0
-            max_height = 0
-            for photo in photos:
-                max_width = max(photo.width, max_width)
-                max_height = max(photo.height, max_height)
-
             max_pixels = args.depthmap_resolution * args.depthmap_resolution
-            if max_width * max_height <= max_pixels:
+            if outputs['undist_image_max_size'] * outputs['undist_image_max_size'] <= max_pixels:
                 mve_output_scale = 0
             else:
-                ratio = float(max_width * max_height) / float(max_pixels)
+                ratio = float(outputs['undist_image_max_size'] * outputs['undist_image_max_size']) / float(max_pixels)
                 mve_output_scale = int(math.ceil(math.log(ratio) / math.log(4.0)))
 
             dmrecon_config = [

stages/run_opensfm.py

@@ -44,11 +44,19 @@ class ODMOpenSfMStage(types.ODM_Stage):
             output_file = tree.opensfm_reconstruction
 
         updated_config_flag_file = octx.path('updated_config.txt')
+
+        # Make sure it's capped by the depthmap-resolution arg,
+        # since the undistorted images are used for MVS
+        outputs['undist_image_max_size'] = max(
+            gsd.image_max_size(photos, args.orthophoto_resolution, tree.opensfm_reconstruction, ignore_gsd=args.ignore_gsd),
+            args.depthmap_resolution
+        )
+
         if not io.file_exists(updated_config_flag_file) or self.rerun():
-            octx.update_config({'undistorted_image_max_size': gsd.image_max_size(photos, args.orthophoto_resolution, tree.opensfm_reconstruction, ignore_gsd=args.ignore_gsd)})
+            octx.update_config({'undistorted_image_max_size': outputs['undist_image_max_size']})
             octx.touch(updated_config_flag_file)
 
-        # These will be used for texturing
+        # These will be used for texturing / MVS
         undistorted_images_path = octx.path("undistorted")
 
         if not io.dir_exists(undistorted_images_path) or self.rerun():
@@ -59,7 +67,7 @@ class ODMOpenSfMStage(types.ODM_Stage):
         self.update_progress(80)
 
         if not io.file_exists(tree.opensfm_reconstruction_nvm) or self.rerun():
-            octx.run('export_visualsfm --undistorted')
+            octx.run('export_visualsfm --undistorted --points')
         else:
             log.ODM_WARNING('Found a valid OpenSfM NVM reconstruction file in: %s' %
                             tree.opensfm_reconstruction_nvm)