From 400899d5f9a8b93eb4ad5cc18db71e28f6a27a8c Mon Sep 17 00:00:00 2001
From: Piero Toffanin <pt@masseranolabs.com>
Date: Wed, 16 May 2018 14:41:36 -0500
Subject: [PATCH] Exposed some opensfm parameters

---
 opendm/config.py       | 34 ++++++++++++++++++++++++++++++++++
 scripts/run_opensfm.py |  7 ++++---
 2 files changed, 38 insertions(+), 3 deletions(-)

diff --git a/opendm/config.py b/opendm/config.py
index 730546c0..19c320a8 100644
--- a/opendm/config.py
+++ b/opendm/config.py
@@ -147,6 +147,40 @@ def config():
                         help=('The maximum number of processes to use in dense '
                               'reconstruction. Default: %(default)s'))
 
+    parser.add_argument('--opensfm-depthmap-resolution',
+                        metavar='<positive float>',
+                        type=float,
+                        default=640,
+                        help=('Resolution of the depthmaps. Higher values take longer to compute '
+                              'but produce denser point clouds. '
+                              'Default: %(default)s'))
+
+    parser.add_argument('--opensfm-depthmap-min-consistent-views',
+                      metavar='<integer: 2 <= x <= 9>',
+                      type=int,
+                      default=3,
+                      help=('Minimum number of views that should reconstruct a point for it to be valid. Use lower values '
+                            'if your images have few overlap. Lower values result in denser point clouds '
+                            'but with more noise. '
+                            'Default: %(default)s'))
+
+    parser.add_argument('--opensfm-depthmap-method',
+                      metavar='<string>',
+                      default='PATCH_MAP',
+                      choices=['PATCH_MAP', 'BRUTE_FORCE', 'PATCH_MATCH_SAMPLE'],
+                      help=('Raw depthmap computation algorithm. '
+                            'PATCH_MAP and PATCH_MATCH_SAMPLE are faster, but might miss some valid points. '
+                            'BRUTE_FORCE takes longer but produces denser reconstructions. '
+                            'Default: %(default)s'))
+
+    parser.add_argument('--opensfm-depthmap-min-patch-sd',
+                      metavar='<positive float>',
+                      type=float,
+                      default=1,
+                      help=('When using PATCH_MAP or PATCH_MATCH_SAMPLE, controls the standard deviation threshold to include patches. '
+                            'Patches with lower standard deviation are ignored. '
+                            'Default: %(default)s'))
+
     parser.add_argument('--use-hybrid-bundle-adjustment',
                         action='store_true',
                         default=False,
diff --git a/scripts/run_opensfm.py b/scripts/run_opensfm.py
index b28bca5c..af31d572 100644
--- a/scripts/run_opensfm.py
+++ b/scripts/run_opensfm.py
@@ -76,9 +76,10 @@ class ODMOpenSfMCell(ecto.Cell):
                 "feature_min_frames: %s" % self.params.feature_min_frames,
                 "processes: %s" % self.params.processes,
                 "matching_gps_neighbors: %s" % self.params.matching_gps_neighbors,
-                # "depthmap_resolution: 2560",
-                # "depthmap_min_patch_sd: 4.0",
-                # "depthmap_min_consistent_views: 3",
+                "depthmap_method: %s" % args.opensfm_depthmap_method,
+                "depthmap_resolution: %s" % args.opensfm_depthmap_resolution,
+                "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 self.params.fixed_camera_params else 'yes')
             ]