Shared texturing labeling between multispectral bands

opendm/nvm.py

@@ -0,0 +1,41 @@
+import os
+from opendm import log
+
+def replace_nvm_images(src_nvm_file, img_map, dst_nvm_file):
+    """
+    Create a new NVM file from an existing NVM file
+    replacing the image references based on img_map
+    where img_map is a dict { "old_image" --> "new_image" } (filename only).
+    The function does not write the points information (they are discarded)
+    """
+
+    with open(src_nvm_file) as f:
+        lines = list(map(str.strip, f.read().split("\n")))
+    
+    # Quick check
+    if len(lines) < 3 or lines[0] != "NVM_V3" or lines[1].strip() != "":
+        raise Exception("%s does not seem to be a valid NVM file" % src_nvm_file)
+    
+    num_images = int(lines[2])
+    entries = []
+
+    for l in lines[3:3+num_images]:
+        image_path, *p = l.split(" ")
+
+        dir_name = os.path.dirname(image_path)
+        file_name = os.path.basename(image_path)
+
+        new_filename = img_map.get(file_name)
+        if new_filename is not None:
+            entries.append("%s %s" % (os.path.join(dir_name, new_filename), " ".join(p)))
+        else:
+            log.ODM_WARNING("Cannot find %s in image map for %s" % (file_name, dst_nvm_file)) 
+    
+    if num_images != len(entries):
+        raise Exception("Cannot write %s, not all band images have been matched" % dst_nvm_file)
+
+    with open(dst_nvm_file, "w") as f:
+        f.write("NVM_V3\n\n%s\n" % len(entries))
+        f.write("\n".join(entries))
+        f.write("\n\n0\n0\n\n0")
+            

stages/mvstex.py

@@ -25,7 +25,8 @@ class ODMMvsTexStage(types.ODM_Stage):
                     'out_dir': os.path.join(tree.odm_texturing, subdir),
                     'model': tree.odm_mesh,
                     'nadir': False,
-                    'nvm_file': nvm_file
+                    'nvm_file': nvm_file,
+                    'labeling_file': os.path.join(tree.odm_texturing, "odm_textured_model_labeling.vec") if subdir else None
                 }]
 
             if not args.use_3dmesh:
@@ -33,7 +34,8 @@ class ODMMvsTexStage(types.ODM_Stage):
                     'out_dir': os.path.join(tree.odm_25dtexturing, subdir),
                     'model': tree.odm_25dmesh,
                     'nadir': True,
-                    'nvm_file': nvm_file
+                    'nvm_file': nvm_file,
+                    'labeling_file': os.path.join(tree.odm_25dtexturing, "odm_textured_model_labeling.vec") if subdir else None
                 }]
 
         if reconstruction.multi_camera:
@@ -81,7 +83,9 @@ class ODMMvsTexStage(types.ODM_Stage):
                     'skipLocalSeamLeveling': skipLocalSeamLeveling,
                     'toneMapping': self.params.get('tone_mapping'),
                     'nadirMode': nadir,
-                    'nvm_file': r['nvm_file']
+                    'nvm_file': r['nvm_file'],
+                    'intermediate': '--no_intermediate_results' if (r['labeling_file'] or not reconstruction.multi_camera) else '',
+                    'labelingFile': '-L "%s"' % r['labeling_file'] if r['labeling_file'] else ''
                 }
 
                 mvs_tmp_dir = os.path.join(r['out_dir'], 'tmp')
@@ -95,10 +99,11 @@ class ODMMvsTexStage(types.ODM_Stage):
                 system.run('{bin} {nvm_file} {model} {out_dir} '
                         '-d {dataTerm} -o {outlierRemovalType} '
                         '-t {toneMapping} '
-                        '--no_intermediate_results '
+                        '{intermediate} '
                         '{skipGlobalSeamLeveling} '
                         '{skipLocalSeamLeveling} '
-                        '{nadirMode}'.format(**kwargs))
+                        '{nadirMode} '
+                        '{labelingFile} '.format(**kwargs))
                 
                 progress += progress_per_run
                 self.update_progress(progress)

stages/openmvs.py

@@ -29,12 +29,6 @@ class ODMOpenMVSStage(types.ODM_Stage):
             # export reconstruction from opensfm
             octx = OSFMContext(tree.opensfm)
             cmd = 'export_openmvs'
-            if reconstruction.multi_camera:
-                # Export only the primary band
-                primary_band = get_primary_band_name(reconstruction.multi_camera, args.primary_band)
-
-                image_list = os.path.join(tree.opensfm, "image_list_%s.txt" % primary_band.lower())
-                cmd += ' --image_list "%s"' % image_list
             octx.run(cmd)
             
             self.update_progress(10)

stages/run_opensfm.py

@@ -13,6 +13,7 @@ from opendm import types
 from opendm.utils import get_depthmap_resolution
 from opendm.osfm import OSFMContext
 from opendm import multispectral
+from opendm import nvm
 
 class ODMOpenSfMStage(types.ODM_Stage):
     def process(self, args, outputs):
@@ -127,27 +128,10 @@ class ODMOpenSfMStage(types.ODM_Stage):
         self.update_progress(80)
 
         if reconstruction.multi_camera:
-            # Dump band image lists
-            log.ODM_INFO("Multiple bands found")
-            for band in reconstruction.multi_camera:
-                log.ODM_INFO("Exporting %s band" % band['name'])
-                image_list_file = octx.path("image_list_%s.txt" % band['name'].lower())
-
-                if not io.file_exists(image_list_file) or self.rerun():
-                    with open(image_list_file, "w") as f:
-                        f.write("\n".join([p.filename for p in band['photos']]))
-                        log.ODM_INFO("Wrote %s" % image_list_file)
-                else:
-                    log.ODM_WARNING("Found a valid image list in %s for %s band" % (image_list_file, band['name']))
-                
-                nvm_file = octx.path("undistorted", "reconstruction_%s.nvm" % band['name'].lower())
-                if not io.file_exists(nvm_file) or self.rerun():
-                    octx.run('export_visualsfm --points --image_list "%s"' % image_list_file)
-                    os.rename(tree.opensfm_reconstruction_nvm, nvm_file)
-                else:
-                    log.ODM_WARNING("Found a valid NVM file in %s for %s band" % (nvm_file, band['name']))
-
             octx.restore_reconstruction_backup()
+
+            # Undistort primary band and write undistorted 
+            # reconstruction.json, tracks.csv
             octx.convert_and_undistort(self.rerun(), undistort_callback, runId='primary')
 
         if not io.file_exists(tree.opensfm_reconstruction_nvm) or self.rerun():
@@ -155,6 +139,29 @@ class ODMOpenSfMStage(types.ODM_Stage):
         else:
             log.ODM_WARNING('Found a valid OpenSfM NVM reconstruction file in: %s' %
                             tree.opensfm_reconstruction_nvm)
+        
+        if reconstruction.multi_camera:
+            log.ODM_INFO("Multiple bands found")
+
+            # Write NVM files for the various bands
+            for band in reconstruction.multi_camera:
+                nvm_file = octx.path("undistorted", "reconstruction_%s.nvm" % band['name'].lower())
+
+                img_map = {}
+                for fname in p2s:
+                    
+                    # Primary band maps to itself
+                    if band['name'] == primary_band_name:
+                        img_map[fname + '.tif'] = fname + '.tif'
+                    else:
+                        band_filename = next((p.filename for p in p2s[fname] if p.band_name == band['name']), None)
+
+                        if band_filename is not None:
+                            img_map[fname + '.tif'] = band_filename + '.tif'
+                        else:
+                            log.ODM_WARNING("Cannot find %s band equivalent for %s" % (band, fname))
+
+                nvm.replace_nvm_images(tree.opensfm_reconstruction_nvm, img_map, nvm_file)
 
         self.update_progress(85)