Point to 061 branch in OpenDroneMap/OpenSfM, undistort logic adaptation

Former-commit-id: 05d0706da1

SuperBuild/cmake/External-OpenSfM.cmake

@@ -8,8 +8,8 @@ ExternalProject_Add(${_proj_name}
   STAMP_DIR         ${_SB_BINARY_DIR}/stamp
   #--Download step--------------
   DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
-  GIT_REPOSITORY    https://github.com/mapillary/OpenSfM/
-  GIT_TAG           00655397be3e27c490492ae01197bf66c51fa493
+  GIT_REPOSITORY    https://github.com/OpenDroneMap/OpenSfM/
+  GIT_TAG           061
   #--Update/Patch step----------
   UPDATE_COMMAND    git submodule update --init --recursive
   #--Configure step-------------

opendm/gsd.py

@@ -1,6 +1,7 @@
 import os
 import json
 import numpy as np
+import math
 from repoze.lru import lru_cache
 from opendm import log
 
@@ -20,6 +21,29 @@ def rounded_gsd(reconstruction_json, default_value=None, ndigits=0, ignore_gsd=F
         return default_value
 
 
+def image_max_size(photos, target_resolution, reconstruction_json, gsd_error_estimate = 0.1, ignore_gsd=False):
+    """
+    :param photos images database
+    :param target_resolution resolution the user wants have in cm / pixel
+    :param reconstruction_json path to OpenSfM's reconstruction.json
+    :param gsd_error_estimate percentage of estimated error in the GSD calculation to set an upper bound on resolution.
+    :param ignore_gsd if set to True, simply return the largest side of the largest image in the images database.
+    :return A dimension in pixels calculated by taking the image_scale_factor and applying it to the size of the largest image.
+        Returned value is never higher than the size of the largest side of the largest image.
+    """
+    max_width = 0
+    max_height = 0
+    if ignore_gsd:
+        isf = 1.0
+    else:
+        isf = image_scale_factor(target_resolution, reconstruction_json, gsd_error_estimate)
+
+    for p in photos:
+        max_width = max(p.width, max_width)
+        max_height = max(p.height, max_height)
+
+    return int(math.ceil(max(max_width, max_height) * isf))
+
 def image_scale_factor(target_resolution, reconstruction_json, gsd_error_estimate = 0.1):
     """
     :param target_resolution resolution the user wants have in cm / pixel

opendm/osfm.py

@@ -3,6 +3,7 @@ OpenSfM related utils
 """
 
 import os, shutil, sys
+import yaml
 from opendm import io
 from opendm import log
 from opendm import system
@@ -85,6 +86,7 @@ class OSFMContext:
                 "depthmap_min_patch_sd: %s" % args.opensfm_depthmap_min_patch_sd,
                 "depthmap_min_consistent_views: %s" % args.opensfm_depthmap_min_consistent_views,
                 "optimize_camera_parameters: %s" % ('no' if args.use_fixed_camera_params else 'yes'),
+                "undistorted_image_format: png" # mvs-texturing exhibits artifacts with JPG
             ]
 
             if has_alt:
@@ -109,7 +111,7 @@ class OSFMContext:
 
             # write config file
             log.ODM_DEBUG(config)
-            config_filename = io.join_paths(self.opensfm_project_path, 'config.yaml')
+            config_filename = self.get_config_file_path()
             with open(config_filename, 'w') as fout:
                 fout.write("\n".join(config))
 
@@ -121,6 +123,9 @@ class OSFMContext:
         else:
             log.ODM_WARNING("%s already exists, not rerunning OpenSfM setup" % list_path)
 
+    def get_config_file_path(self):
+        return io.join_paths(self.opensfm_project_path, 'config.yaml')
+
     def extract_metadata(self, rerun=False):
         metadata_dir = self.path("exif")
         if not io.dir_exists(metadata_dir) or rerun:
@@ -157,6 +162,23 @@ class OSFMContext:
     def path(self, *paths):
         return os.path.join(self.opensfm_project_path, *paths)
 
+    def update_config(self, cfg_dict):
+        cfg_file = self.get_config_file_path()
+        log.ODM_DEBUG("Updating %s" % cfg_file)
+        if os.path.exists(cfg_file):
+            try:
+                with open(cfg_file) as fin:
+                    cfg = yaml.safe_load(fin)
+                for k, v in cfg_dict.items():
+                    cfg[k] = v
+                    log.ODM_DEBUG("%s: %s" % (k, v))
+                with open(cfg_file, 'w') as fout:
+                    fout.write(yaml.dump(cfg, default_flow_style=False))
+            except Exception as e:
+                log.ODM_WARNING("Cannot update configuration file %s: %s" % (cfg_file, str(e)))
+        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

stages/run_opensfm.py

@@ -42,29 +42,26 @@ class ODMOpenSfMStage(types.ODM_Stage):
         else:
             output_file = tree.opensfm_reconstruction
 
-        # Always export VisualSFM's reconstruction and undistort images
-        # as we'll use these for texturing (after GSD estimation and resizing)
-        if not args.ignore_gsd:
-            image_scale = gsd.image_scale_factor(args.orthophoto_resolution, tree.opensfm_reconstruction)
-        else:
-            image_scale = 1.0
-
-        if not io.file_exists(tree.opensfm_reconstruction_nvm) or self.rerun():
-            octx.run('export_visualsfm --image_extension png --scale_focal %s' % image_scale)
-        else:
-            log.ODM_WARNING('Found a valid OpenSfM NVM reconstruction file in: %s' %
-                            tree.opensfm_reconstruction_nvm)
+        octx.update_config({'undistorted_image_max_size': gsd.image_max_size(photos, args.orthophoto_resolution, tree.opensfm_reconstruction, ignore_gsd=args.ignore_gsd)})
 
         # These will be used for texturing
         undistorted_images_path = octx.path("undistorted")
 
         if not io.dir_exists(undistorted_images_path) or self.rerun():
-            octx.run('undistort --image_format png --image_scale %s' % image_scale)
+            octx.run('undistort')
         else:
             log.ODM_WARNING("Found an undistorted directory in %s" % undistorted_images_path)
 
         self.update_progress(80)
 
+        if not io.file_exists(tree.opensfm_reconstruction_nvm) or self.rerun():
+            octx.run('export_visualsfm')
+        else:
+            log.ODM_WARNING('Found a valid OpenSfM NVM reconstruction file in: %s' %
+                            tree.opensfm_reconstruction_nvm)
+
+        self.update_progress(85)
+
         # Skip dense reconstruction if necessary and export
         # sparse reconstruction instead
         if args.fast_orthophoto:
@@ -74,11 +71,8 @@ class ODMOpenSfMStage(types.ODM_Stage):
                 log.ODM_WARNING("Found a valid PLY reconstruction in %s" % output_file)
 
         elif args.use_opensfm_dense:
-            # Undistort images at full scale in JPG
-            # (TODO: we could compare the size of the PNGs if they are < than depthmap_resolution
-            # and use those instead of re-exporting full resolution JPGs)
             if not io.file_exists(output_file) or self.rerun():
-                octx.run('undistort')
+                #octx.run('undistort') # TODO can we use PNGs here?
                 octx.run('compute_depthmaps')
             else:
                 log.ODM_WARNING("Found a valid dense reconstruction in %s" % output_file)