reorganize folders

Former-commit-id: 65e25cc24b

opendm/config.py

@@ -1,7 +1,7 @@
 import argparse
 
 # parse arguments
-processopts = ['resize', 'getKeypoints', 'match', 'bundler', 'cmvs', 'pmvs',
+processopts = ['resize', 'opensfm', 'cmvs', 'pmvs',
                'odm_meshing', 'odm_texturing', 'odm_georeferencing',
                'odm_orthophoto']
 

opendm/dataset.py

@@ -4,13 +4,15 @@ import log
 import context
 import datatypes
 
-def load_dataset(images_dir, args, photos):
+def load_dataset(images_dir, args):
 
     # check if the extension is sopported
     def supported_extension(file_name):
         (pathfn, ext) = os.path.splitext(file_name)
         return ext.lower() in context.supported_extensions
 
+    log.ODM_DEBUG('Loading dataset from: %s' % images_dir)
+
     # find files in the given directory
     files = os.listdir(images_dir)
 
@@ -20,15 +22,17 @@ def load_dataset(images_dir, args, photos):
 
     if len(files) < 1:
         log.ODM_ERROR('Not found enough supported image in %s' % images_dir)
-        return False
+        return
+
+    photos = []
 
     # create ODMPhoto list
     for f in files:
         file_name = os.path.join(images_dir, f)
         photos.append(datatypes.ODMPhoto(file_name, args))
 
-    log.ODM_DEBUG('Found %s usable images' % len(photos))
-    return True
+    log.ODM_INFO('Found %s usable images' % len(photos))
+    return photos
 
 def extract_file_from_path_file(path_file):
     path, file = os.path.split(path_file)

opendm/datatypes.py

@@ -12,7 +12,7 @@ class ODMApp:
     def __init__(self, args):
         # Internal app config
         self.args = args
-        self.images_dir = os.path.abspath(args['images_src'])
+        self.project_path = os.path.abspath(args['images_src'])
         # Initialize odm photos
         self.photos = []
         # Task manager
@@ -45,10 +45,13 @@ class ODMPhoto:
         #  general purpose
         self.path = path
         self.path_file = None
-        # current attibutes
+        # useful attibutes
         self.file_name = None
         self.width = None
         self.height = None
+        self.ccd_width = None
+        self.focal_length = None
+        self.focal_length_px = None
         # other attributes
         self.file_size = None
         self.file_date = None
@@ -57,9 +60,6 @@ class ODMPhoto:
         self.date_time = None
         self.resolution = None
         self.flash_used = None
-        self.focal_length = None
-        self.focal_length_px = None
-        self.ccd_width = None
         self.exposure_time = None
         self.aperture = None
         self.focus_distance = None

opendm/system.py

@@ -2,7 +2,8 @@ import os
 import errno
 import json
 import datetime
-import context
+
+from opendm import context
 
 def get_ccd_widths():
     """Return the CCD Width of the camera listed in the JSON defs file."""

opendm/tasks.py

@@ -1,16 +1,14 @@
 import log
 import system
 
-import opensfm
+import dataset
 import datatypes
 
-from resize import resize
-from dataset import load_dataset
-from opensfm import opensfm
+from scripts.resize import resize
+from scripts.opensfm import opensfm
 
 # Define pipeline tasks
-tasks_dict = { '0': 'load_dataset',
-			   '1': 'resize',
+tasks_dict = { '1': 'resize',
                '2': 'opensfm',
                '3': 'cmvs',
                '4': 'pmvs',
@@ -40,24 +38,19 @@ class ODMTaskManager(object):
 			tasks[key] = ODMTask(key, task_name)
 
 			# setup tasks
-			if  task_name == 'load_dataset':
-				# setup this task
-				command = load_dataset
-				inputs = { 'images_dir': _odm_app.images_dir,
-				           'args': _odm_app.args ,
-		                   'photos': _odm_app.photos }
-
-			elif task_name == 'resize':
+			if task_name == 'resize':
 				# setup this task
 				command = resize
-				inputs = { 'images_dir': _odm_app.images_dir,
-						   'args': _odm_app.args ,
+				inputs = { 'project_path': _odm_app.project_path,
+						   'args': _odm_app.args,
 				           'photos': _odm_app.photos }
 
 			elif task_name == 'opensfm':
 				# setup this task
 				command = opensfm
-				inputs = { 'images_dir': _odm_app.images_dir }
+				inputs = { 'project_path': _odm_app.project_path,
+						   'args': _odm_app.args,
+				           'photos': _odm_app.photos }
 
 			elif task_name == 'cmvs':
 				# setup this task
@@ -147,6 +140,5 @@ class ODMTask(object):
 			succeed = self.command(**self.inputs)
 			return 2 if succeed else 3 # 2:succeed, 3:failed
 		except Exception, e:
-			log.ODM_ERROR('Method %s cannot be called' % str(self.command))
 			log.ODM_ERROR(str(e))
 			return 3 # failed

run_old.py

@@ -0,0 +1,985 @@
+#!/usr/bin/python
+
+import os
+import sys
+import multiprocessing
+import json
+import datetime
+import re
+import subprocess
+import shutil
+import shlex
+# import collections  # Never used
+import fractions
+import argparse
+import errno
+
+import knnMatch_exif
+
+# the defs
+CURRENT_DIR = os.getcwd()
+BIN_PATH_ABS = os.path.abspath(os.path.dirname(os.path.abspath(__file__)))
+PYOPENCV_PATH = os.path.join(BIN_PATH_ABS, 'lib/python2.7/dist-packages')
+OPENSFM_PATH = os.path.join(BIN_PATH_ABS, "src/OpenSfM")
+CORES = multiprocessing.cpu_count()
+
+def get_ccd_widths():
+    """Return the CCD Width of the camera listed in the JSON defs file."""
+    with open(BIN_PATH_ABS + '/ccd_defs.json') as jsonFile:
+        return json.load(jsonFile)
+
+objects = []
+ccdWidths = get_ccd_widths()
+
+BIN_PATH = BIN_PATH_ABS + '/bin'
+
+objectStats = {
+    'count': 0, 'good': 0, 'bad': 0, 'minWidth': 0, 'minHeight': 0,
+    'maxWidth': 0, 'maxHeight': 0
+    }
+
+jobOptions = {'resizeTo': 0, 'srcDir': CURRENT_DIR, 'utmZone': -999,
+              'utmSouth': False, 'utmEastOffset': 0, 'utmNorthOffset': 0}
+
+# parse arguments
+processopts = ['resize', 'getKeypoints', 'match', 'bundler', 'cmvs', 'pmvs',
+               'odm_meshing', 'odm_texturing', 'odm_georeferencing',
+               'odm_orthophoto']
+
+parser = argparse.ArgumentParser(description='OpenDroneMap')
+parser.add_argument('--resize-to',  # currently doesn't support 'orig'
+                    metavar='<integer>',
+                    default=2400,
+                    type=int,
+                    help='resizes images by the largest side')
+
+parser.add_argument('--start-with', '-s',
+                    metavar='<string>',
+                    default='resize',
+                    choices=processopts,
+                    help=('Can be one of: ' + ' | '.join(processopts)))
+
+parser.add_argument('--end-with', '-e',
+                    metavar='<string>',
+                    default='odm_orthophoto',
+                    choices=processopts,
+                    help=('Can be one of:' + ' | '.join(processopts)))
+
+parser.add_argument('--run-only',
+                    metavar='<string>',
+                    choices=processopts,
+                    help=('Can be one of:' + ' | '.join(processopts)))
+
+parser.add_argument('--force-focal',
+                    metavar='<positive float>',
+                    type=float,
+                    help=('Override the focal length information for the '
+                            'images'))
+
+parser.add_argument('--force-ccd',
+                    metavar='<positive float>',
+                    type=float,
+                    help='Override the ccd width information for the images')
+
+parser.add_argument('--matcher-threshold',
+                    metavar='<percent>',
+                    default=2.0,
+                    type=float,
+                    help=('Ignore matched keypoints if the two images share '
+                            'less than <float> percent of keypoints'))
+
+parser.add_argument('--matcher-ratio',
+                    metavar='<float>',
+                    default=0.6,
+                    type=float,
+                    help=('Ratio of the distance to the next best matched '
+                            'keypoint'))
+
+parser.add_argument('--matcher-preselect',
+                    type=bool,
+                    metavar='',
+                    default=True,
+                    help=('use GPS exif data, if available, to match each '
+                            'image only with its k-nearest neighbors, or all '
+                            'images within a certain distance threshold'))
+
+parser.add_argument('--matcher-useKnn',
+                    type=bool,
+                    metavar='',
+                    default=True,
+                    help=('use GPS exif data, if available, to match each '
+                            'image only with its k-nearest neighbors, or all '
+                            'images within a certain distance threshold'))
+
+parser.add_argument('--matcher-kDistance',
+                    metavar='<integer>',
+                    default=20,
+                    type=int,
+                    help='')
+
+parser.add_argument('--cmvs-maxImages',
+                    metavar='<integer>',
+                    default=500,
+                    type=int,
+                    help='The maximum number of images per cluster')
+
+parser.add_argument('--pmvs-level',
+                    metavar='<positive integer>',
+                    default=1,
+                    type=int,
+                    help=('The level in the image pyramid that is used '
+                            'for the computation. see '
+                            'http://www.di.ens.fr/pmvs/documentation.html for '
+                            'more pmvs documentation'))
+
+parser.add_argument('--pmvs-csize',
+                    metavar='< positive integer>',
+                    default=2,
+                    type=int,
+                    help='Cell size controls the density of reconstructions')
+
+parser.add_argument('--pmvs-threshold',
+                    metavar='<float: -1.0 <= x <= 1.0>',
+                    default=0.7,
+                    type=float,
+                    help=('A patch reconstruction is accepted as a success '
+                            'and kept, if its associcated photometric consistency '
+                            'measure is above this threshold.'))
+
+parser.add_argument('--pmvs-wsize',
+                    metavar='<positive integer>',
+                    default=7,
+                    type=int,
+                    help=('pmvs samples wsize x wsize pixel colors from '
+                            'each image to compute photometric consistency '
+                            'score. For example, when wsize=7, 7x7=49 pixel '
+                            'colors are sampled in each image. Increasing the '
+                            'value leads to more stable reconstructions, but '
+                            'the program becomes slower.'))
+
+parser.add_argument('--pmvs-minImageNum',
+                    metavar='<positive integer>',
+                    default=3,
+                    type=int,
+                    help=('Each 3D point must be visible in at least '
+                            'minImageNum images for being reconstructed. 3 is '
+                            'suggested in general.'))
+
+parser.add_argument('--odm_meshing-maxVertexCount',
+                    metavar='<positive integer>',
+                    default=100000,
+                    type=int,
+                    help='The maximum vertex count of the output mesh')
+
+parser.add_argument('--odm_meshing-octreeDepth',
+                    metavar='<positive integer>',
+                    default=9,
+                    type=int,
+                    help=('Oct-tree depth used in the mesh reconstruction, '
+                            'increase to get more vertices, recommended '
+                            'values are 8-12'))
+
+parser.add_argument('--odm_meshing-samplesPerNode',
+                    metavar='<float >= 1.0>',
+                    default=1,
+                    type=float,
+                    help=('Number of points per octree node, recommended '
+                            'value: 1.0'))
+
+parser.add_argument('--odm_meshing-solverDivide',
+                    metavar='<positive integer>',
+                    default=9,
+                    type=int,
+                    help=('Oct-tree depth at which the Laplacian equation '
+                            'is solved in the surface reconstruction step. '
+                            'Increasing this value increases computation '
+                            'times slightly but helps reduce memory usage.'))
+
+parser.add_argument('--odm_texturing-textureResolution',
+                    metavar='<positive integer>',
+                    default=4096,
+                    type=int,
+                    help=('The resolution of the output textures. Must be '
+                            'greater than textureWithSize.'))
+
+parser.add_argument('--odm_texturing-textureWithSize',
+                    metavar='<positive integer>',
+                    default=3600,
+                    type=int,
+                    help=('The resolution to rescale the images performing '
+                            'the texturing.'))
+
+parser.add_argument('--odm_georeferencing-gcpFile',
+                    metavar='<path string>',
+                    default='gcp_list.txt',
+                    help=('path to the file containing the ground control '
+                            'points used for georeferencing.The file needs to '
+                            'be on the following line format: \neasting '
+                            'northing height pixelrow pixelcol imagename'))
+
+parser.add_argument('--odm_georeferencing-useGcp',
+                    type = bool,
+                    default = False,
+                    help = 'set to true for enabling GCPs from the file above')
+
+parser.add_argument('--zip-results',
+                    action='store_true',
+                    default=False,
+                    help='compress the results using gunzip')
+
+parser.add_argument('--use-opensfm',
+                    type=bool,
+                    default=False,
+                    help='use OpenSfM instead of Bundler to find the camera positions '
+                         '(replaces getKeypoints, match and bundler steps)')
+
+args = parser.parse_args()
+
+print "\n  - configuration:"
+
+print vars(args)
+# for key in vars(args):
+#     if key != "":
+#         print "    " + key + ": " + str(args[key])
+# print "\n"
+
+
+def run(cmd):
+    """Run a system command"""
+    print 'running', cmd
+    returnCode = os.system(cmd)
+    print 'b'
+    if (returnCode != 0):
+        sys.exit("\nquitting cause: \n\t" + cmd + "\nreturned with code " +
+                 str(returnCode) + ".\n")
+
+
+def now():
+    """Return the current time"""
+    return datetime.datetime.now().strftime('%a %b %d %H:%M:%S %Z %Y')
+
+
+def run_and_return(cmdSrc, cmdDest):
+    """Run a system command and return the output"""
+    srcProcess = subprocess.Popen(shlex.split(cmdSrc), stdout=subprocess.PIPE)
+    if cmdDest:
+        destProcess = subprocess.Popen(shlex.split(cmdDest),
+                                       stdin=srcProcess.stdout,
+                                       stdout=subprocess.PIPE)
+        stdout, stderr = destProcess.communicate()
+    else:
+        stdout, stderr = srcProcess.communicate()
+
+    return stdout.decode('ascii')
+
+
+def mkdir_p(path):
+    '''Make a directory including parent directories.
+    '''
+    try:
+        os.makedirs(path)
+    except os.error as exc:
+        if exc.errno != errno.EEXIST or not os.path.isdir(path):
+            raise
+
+
+def calculate_EPSG(utmZone, south):
+    """Calculate and return the EPSG"""
+    if south:
+        return 32700 + utmZone
+    else:
+        return 32600 + utmZone
+
+
+def parse_coordinate_system():
+    """Write attributes to jobOptions from coord file"""
+    if os.path.isfile(jobOptions['jobDir'] +
+                      '/odm_georeferencing/coordFile.txt'):
+        with open(jobOptions['jobDir'] + '/odm_georeferencing/coordFile.txt') as f:
+            for lineNumber, line in enumerate(f):
+                if lineNumber == 0:
+                    tokens = line.split(' ')
+                    if len(tokens) == 3:
+                        utmZoneString = tokens[2][0:len(tokens[2])-2].strip()
+                        utmSouthBool = (tokens[2][len(tokens[2])-2].strip() == 'S')
+                        jobOptions['csString'] = '+datum=WGS84 +proj=utm +zone=' + utmZoneString + (' +south' if utmSouthBool else '')
+                        jobOptions['epsg'] = calculate_EPSG(int(utmZoneString), utmSouthBool)
+                elif lineNumber == 1:
+                    tokens = line.split(' ')
+                    if len(tokens) == 2:
+                        jobOptions['utmEastOffset'] = int(tokens[0].strip())
+                        jobOptions['utmNorthOffset'] = int(tokens[1].strip())
+                else:
+                    break
+
+
+def prepare_objects():
+    """Prepare the jobOptions and fileObjects dicts"""
+    source_files = run_and_return('ls -1', 'egrep "\.[jJ]{1}[pP]{1}[eE]{0,1}[gG]{1}"')
+
+    print "\n  - source files - " + now()
+
+    for filename in source_files.split('\n'):
+        filename = filename.rstrip('\n')
+        if not filename:
+            continue
+        file_make = run_and_return('jhead "' + filename + '"', 'grep "Camera make"')
+        file_model = run_and_return('jhead "' + filename + '"', 'grep "Camera model"')
+        file_focal = run_and_return('jhead "' + filename + '"', 'grep "Focal length"')
+        file_ccd = run_and_return('jhead "' + filename + '"', 'grep "CCD width"')
+        file_resolution = run_and_return('jhead "' + filename + '"', 'grep "Resolution"')
+
+        fileObject = {}
+
+        fileObject["src"] = filename
+        fileObject["base"] = re.sub("\.[^\.]*$", "", filename)
+
+        match = re.search(": ([^\n\r]*)", file_make)
+        if match:
+            fileObject["make"] = match.group(1).strip()
+
+        match = re.search(": ([^\n\r]*)", file_model)
+        if match:
+            fileObject["model"] = match.group(1).strip()
+
+        if "make" in fileObject:
+            fileObject["make"] = re.sub("^\s+", "", fileObject["make"])
+            fileObject["make"] = re.sub("\s+$", "", fileObject["make"])
+
+        if "model" in fileObject:
+            fileObject["model"] = re.sub("^\s+", "", fileObject["model"])
+            fileObject["model"] = re.sub("\s+$", "", fileObject["model"])
+
+        if "make" in fileObject:
+            fileObject["id"] = fileObject["make"]
+        if "model" in fileObject:
+            fileObject["id"] += " " + fileObject["model"]
+
+        match = re.search(": ([0-9]*) x ([0-9]*)", file_resolution)
+        if match:
+            fileObject["width"] = int(match.group(1).strip())
+            fileObject["height"] = int(match.group(2).strip())
+
+        if args.force_focal is None:
+            match = re.search(":[\ ]*([0-9\.]*)mm", file_focal)
+            if match:
+                fileObject["focal"] = float((match.group()[1:-2]).strip())
+        else:
+            fileObject["focal"] = args.force_focal
+
+        if args.force_ccd is None:
+            match = re.search(":[\ ]*([0-9\.]*)mm", file_ccd)
+            if match:
+                fileObject["ccd"] = float(match.group()[1:-2].strip())
+
+            if ("ccd" not in fileObject) and ("id" in fileObject):
+                fileObject["ccd"] = float(ccdWidths[fileObject["id"]])
+        else:
+            fileObject["ccd"] = args.force_ccd
+
+        if "ccd" in fileObject and "focal" in fileObject and "width" in fileObject and "height" in fileObject:
+            if fileObject["width"] > fileObject["height"]:
+                fileObject["focalpx"] = fileObject["width"] * fileObject["focal"] / fileObject["ccd"]
+            else:
+                fileObject["focalpx"] = fileObject["height"] * fileObject["focal"] / fileObject["ccd"]
+
+            fileObject["isOk"] = True
+            objectStats["good"] += 1
+
+            print "     using " + fileObject["src"] + "     dimensions: " + str(fileObject["width"]) + "x" + str(fileObject["height"]) + " / focal: " + str(fileObject["focal"]) + "mm / ccd: " + str(fileObject["ccd"]) + "mm"
+        else:
+            fileObject["isOk"] = False
+            objectStats["bad"] += 1
+
+            if "id" in fileObject:
+                print "\n    no CCD width or focal length found for " + fileObject["src"] + " - camera: \"" + fileObject["id"] + "\""
+            else:
+                print "\n    no CCD width or focal length found"
+
+        objectStats["count"] += 1
+
+        if "width" in fileObject and "height" in fileObject:
+            if objectStats["minWidth"] == 0:
+                objectStats["minWidth"] = fileObject["width"]
+            if objectStats["minHeight"] == 0:
+                objectStats["minHeight"] = fileObject["height"]
+
+            if objectStats["minWidth"] < fileObject["width"]:
+                objectStats["minWidth"] = objectStats["minWidth"]
+            else:
+                objectStats["minWidth"] = fileObject["width"]
+
+            if objectStats["minHeight"] < fileObject["height"]:
+                objectStats["minHeight"] = objectStats["minHeight"]
+            else:
+                objectStats["minHeight"] = fileObject["height"]
+
+            if objectStats["maxWidth"] > fileObject["width"]:
+                objectStats["maxWidth"] = objectStats["maxWidth"]
+            else:
+                objectStats["maxWidth"] = fileObject["width"]
+
+            if objectStats["maxHeight"] > fileObject["height"]:
+                objectStats["maxHeight"] = objectStats["maxHeight"]
+            else:
+                objectStats["maxHeight"] = fileObject["height"]
+
+        objects.append(fileObject)
+
+    if "good" not in objectStats:
+        print "\n    found no usable images - quitting\n"
+        sys.exit()
+    else:
+        print "\n    found " + str(objectStats["good"]) + " usable images"
+
+    print "\n"
+
+    jobOptions["resizeTo"] = args.resize_to
+
+    print "  using max image size of " + str(jobOptions["resizeTo"]) + " x " + str(jobOptions["resizeTo"])
+
+    jobOptions["jobDir"] = jobOptions["srcDir"] + "/reconstruction-with-image-size-" + str(jobOptions["resizeTo"])
+
+    jobOptions["step_1_convert"] = jobOptions["jobDir"] + "/_convert.templist.txt"
+    jobOptions["step_1_vlsift"] = jobOptions["jobDir"] + "/_vlsift.templist.txt"
+    jobOptions["step_1_gzip"] = jobOptions["jobDir"] + "/_gzip.templist.txt"
+
+    jobOptions["step_2_filelist"] = jobOptions["jobDir"] + "/_filelist.templist.txt"
+    jobOptions["step_2_macthes_jobs"] = jobOptions["jobDir"] + "/_matches_jobs.templist.txt"
+    jobOptions["step_2_matches_dir"] = jobOptions["jobDir"] + "/matches"
+    jobOptions["step_2_matches"] = jobOptions["jobDir"] + "/matches.init.txt"
+
+    jobOptions["step_3_filelist"] = jobOptions["jobDir"] + "/list.txt"
+    jobOptions["step_3_bundlerOptions"] = jobOptions["jobDir"] + "/options.txt"
+
+    try:
+        os.mkdir(jobOptions["jobDir"])
+    except:
+        pass
+
+    for fileObject in objects:
+        if fileObject["isOk"]:
+            fileObject["step_0_resizedImage"] = jobOptions["jobDir"] + "/" + fileObject["src"]
+            fileObject["step_1_pgmFile"] = jobOptions["jobDir"] + "/" + fileObject["base"] + ".pgm"
+            fileObject["step_1_keyFile"] = jobOptions["jobDir"] + "/" + fileObject["base"] + ".key"
+            fileObject["step_1_gzFile"] = jobOptions["jobDir"] + "/" + fileObject["base"] + ".key.gz"
+
+
+def resize():
+    """Resize images"""
+    print "\n  - preparing images - " + now()
+
+    os.chdir(jobOptions["jobDir"])
+
+    for fileObject in objects:
+        if fileObject["isOk"]:
+            if not os.path.isfile(fileObject["step_0_resizedImage"]):
+                if jobOptions["resizeTo"] != 0 and ((int(fileObject["width"]) > jobOptions["resizeTo"]) or (fileObject["height"] > jobOptions["resizeTo"])):
+                    sys.stdout.write("    resizing " + fileObject["src"] + " \tto " + fileObject["step_0_resizedImage"])
+                    run("convert -resize " + str(jobOptions["resizeTo"]) + "x" + str(jobOptions["resizeTo"]) + " -quality 100 \"" + jobOptions["srcDir"] + "/" + fileObject["src"] + "\" \"" + fileObject["step_0_resizedImage"] + "\"")
+                else:
+                    sys.stdout.write("     copying " + fileObject["src"] + " \tto " + fileObject["step_0_resizedImage"])
+                    shutil.copyfile(CURRENT_DIR + "/" + fileObject["src"], fileObject["step_0_resizedImage"])
+            else:
+                print "     using existing " + fileObject["src"] + " \tto " + fileObject["step_0_resizedImage"]
+
+            file_resolution = run_and_return('jhead "' + fileObject["step_0_resizedImage"] + '"', 'grep "Resolution"')
+            match = re.search(": ([0-9]*) x ([0-9]*)", file_resolution)
+            if match:
+                fileObject["width"] = int(match.group(1).strip())
+                fileObject["height"] = int(match.group(2).strip())
+            print "\t (" + str(fileObject["width"]) + " x " + str(fileObject["height"]) + ")"
+
+
+def getKeypoints():
+    """Run vlsift to create keypoint files for each image"""
+    print "\n  - finding keypoints - " + now()
+
+    os.chdir(jobOptions["jobDir"])
+
+    vlsiftJobs = ""
+    c = 0
+
+    for fileObject in objects:
+        c += 1
+
+        if fileObject["isOk"]:
+            if not os.path.isfile(jobOptions["jobDir"] + "/" + fileObject["base"] + ".key.bin"):
+                vlsiftJobs += "echo -n \"" + str(c) + "/" + str(objectStats["good"]) + " - \" && convert -format pgm \"" + fileObject["step_0_resizedImage"] + "\" \"" + fileObject["step_1_pgmFile"] + "\""
+                vlsiftJobs += " && \"" + BIN_PATH + "/vlsift\" \"" + fileObject["step_1_pgmFile"] + "\" -o \"" + fileObject["step_1_keyFile"] + ".sift\" > /dev/null && perl \"" + BIN_PATH + "/../convert_vlsift_to_lowesift.pl\" \"" + jobOptions["jobDir"] + "/" + fileObject["base"] + "\""
+                vlsiftJobs += " && gzip -f \"" + fileObject["step_1_keyFile"] + "\""
+                vlsiftJobs += " && rm -f \"" + fileObject["step_1_pgmFile"] + "\""
+                vlsiftJobs += " && rm -f \"" + fileObject["step_1_keyFile"] + ".sift\"\n"
+            else:
+                print "using existing " + jobOptions["jobDir"] + "/" + fileObject["base"] + ".key.bin"
+
+    siftDest = open(jobOptions["step_1_vlsift"], 'w')
+    siftDest.write(vlsiftJobs)
+    siftDest.close()
+
+    run("\"" + BIN_PATH + "/parallel\" --no-notice --halt-on-error 1 -j+0 < \"" + jobOptions["step_1_vlsift"] + "\"")
+
+
+def match():
+    """Run matches on images"""
+    print "\n  - matching keypoints - " + now()
+
+    os.chdir(jobOptions["jobDir"])
+    try:
+        os.mkdir(jobOptions["step_2_matches_dir"])
+    except:
+        pass
+
+    matchesJobs = ""
+    c = 0
+    t = (objectStats["good"] - 1) * (objectStats["good"] / 2)  # BUG:unused
+
+    preselected_pairs = []
+
+    # Create a file list with all keypoint files
+    filesList = ""
+    for fileObject in objects:
+        if fileObject["isOk"]:
+            filesList += fileObject["step_1_keyFile"] + "\n"
+    matchDest = open(jobOptions["step_2_filelist"], 'w')
+    matchDest.write(filesList)
+    matchDest.close()
+
+    # Check if preselection is to be run
+    if args.matcher_preselect:
+        useKnn = True
+        if args.matcher_useKnn:
+            useKnn = False  # BUG: never used
+        preselected_pairs = knnMatch_exif.preselect_pairs(BIN_PATH + "/odm_extract_utm", jobOptions["step_2_filelist"], args.matcher_kDistance, args.matcher_useKnn)
+    if len(preselected_pairs) != 0:
+        for i, j, in preselected_pairs:
+            c += 1
+            if i < 10:
+                print i, j
+            if not os.path.isfile(jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt"):
+                matchesJobs += "echo -n \".\" && touch \"" + jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt\" && \"" + BIN_PATH + "/KeyMatch\" \"" + objects[i]["step_1_keyFile"] + "\" \"" + objects[j]["step_1_keyFile"] + "\" \"" + jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt\" " + str(args.matcher_ratio) + " " + str(args.matcher_threshold) + "\n"
+
+
+# Match all image pairs
+    else:
+        if args.matcher_preselect == "true":
+            print "Failed to run pair preselection, proceeding with exhaustive matching."
+        for i in range(0, objectStats["good"]):
+            for j in range(i + 1, objectStats["good"]):
+                c += 1
+                if not os.path.isfile(jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt"):
+                    matchesJobs += "echo -n \".\" && touch \"" + jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt\" && \"" + BIN_PATH + "/KeyMatch\" \"" + objects[i]["step_1_keyFile"] + "\" \"" + objects[j]["step_1_keyFile"] + "\" \"" + jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt\" " + str(args.matcher_ratio) + " " + str(args.matcher_threshold) + "\n"
+
+    matchDest = open(jobOptions["step_2_macthes_jobs"], 'w')
+    matchDest.write(matchesJobs)
+    matchDest.close()
+
+    run("\"" + BIN_PATH + "/parallel\" --no-notice --halt-on-error 1 -j+0 < \"" + jobOptions["step_2_macthes_jobs"] + "\"")
+    run("rm -f \"" + jobOptions["step_2_matches"] + "\"")
+
+    for i in range(0, objectStats["good"]):
+        for j in range(i + 1, objectStats["good"]):
+            c += 1
+            if os.path.isfile(jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt") and os.path.getsize(jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt") > 0:
+                run("echo \"" + str(i) + " " + str(j) + "\" >> \"" + jobOptions["step_2_matches"] + "\" && cat \"" + jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt\" >> \"" + jobOptions["step_2_matches"] + "\"")
+
+    filesList = ""
+    for fileObject in objects:
+        if fileObject["isOk"]:
+            filesList += fileObject["step_1_keyFile"] + "\n"
+
+    matchDest = open(jobOptions["step_2_filelist"], 'w')
+    matchDest.write(filesList)
+    matchDest.close()
+
+#   run("\"" + BIN_PATH + "/KeyMatchFull\" \"" + jobOptions["step_2_filelist"] + "\" \"" + jobOptions["step_2_matches"] + "\"    ")
+
+
+def bundler():
+    """Run bundler and prepare bundle for PMVS"""
+    print "\n  - running bundler - " + now()
+
+    os.chdir(jobOptions["jobDir"])
+
+    try:
+        os.mkdir(jobOptions["jobDir"] + "/bundle")
+    except:
+        pass
+    try:
+        os.mkdir(jobOptions["jobDir"] + "/pmvs")
+    except:
+        pass
+    try:
+        os.mkdir(jobOptions["jobDir"] + "/pmvs/txt")
+    except:
+        pass
+    try:
+        os.mkdir(jobOptions["jobDir"] + "/pmvs/visualize")
+    except:
+        pass
+    try:
+        os.mkdir(jobOptions["jobDir"] + "/pmvs/models")
+    except:
+        pass
+
+    filesList = ""
+
+    for fileObject in objects:
+        if fileObject["isOk"]:
+            filesList += "./" + fileObject["src"] + " 0 {:.5f}\n".format(fileObject["focalpx"])
+
+    filesList = filesList.rstrip('\n')
+
+    bundlerOptions = "--match_table matches.init.txt\n"
+    bundlerOptions += "--output bundle.out\n"
+    bundlerOptions += "--output_all bundle_\n"
+    bundlerOptions += "--output_dir bundle\n"
+    bundlerOptions += "--variable_focal_length\n"
+    bundlerOptions += "--use_focal_estimate\n"
+    bundlerOptions += "--constrain_focal\n"
+    bundlerOptions += "--constrain_focal_weight 0.0\n"
+    bundlerOptions += "--estimate_distortion\n"
+    bundlerOptions += "--run_bundle"
+
+    run("echo \"" + bundlerOptions + "\" > \"" + jobOptions["step_3_bundlerOptions"] + "\"")
+
+    bundlerDest = open(jobOptions["step_3_filelist"], 'w')
+    bundlerDest.write(filesList)
+    bundlerDest.close()
+
+    run("\"" + BIN_PATH + "/bundler\" \"" + jobOptions["step_3_filelist"] + "\" --options_file \"" + jobOptions["step_3_bundlerOptions"] + "\" > bundle/out")
+    run("\"" + BIN_PATH + "/Bundle2PMVS\" \"" + jobOptions["step_3_filelist"] + "\" bundle/bundle.out")
+    run("\"" + BIN_PATH + "/RadialUndistort\" \"" + jobOptions["step_3_filelist"] + "\" bundle/bundle.out pmvs")
+
+    i = 0
+    for fileObject in objects:
+        if fileObject["isOk"]:
+            if os.path.isfile("pmvs/" + fileObject["base"] + ".rd.jpg"):
+                nr = "{0:08d}".format(i)
+                i += 1
+
+                run("mv pmvs/" + fileObject["base"] + ".rd.jpg pmvs/visualize/" + str(nr) + ".jpg")
+                run("mv pmvs/" + str(nr) + ".txt pmvs/txt/" + str(nr) + ".txt")
+
+    run("\"" + BIN_PATH + "/Bundle2Vis\" pmvs/bundle.rd.out pmvs/vis.dat")
+
+
+def opensfm():
+    print "\n  - running OpenSfM - " + now()
+
+    os.chdir(jobOptions["jobDir"])
+
+    # Create bundler's list.txt
+    filesList = ""
+    for fileObject in objects:
+        if fileObject["isOk"]:
+            filesList += "./" + fileObject["src"] + " 0 {:.5f}\n".format(fileObject["focalpx"])
+    filesList = filesList.rstrip('\n')
+
+    with open(jobOptions["step_3_filelist"], 'w') as fout:
+        fout.write(filesList)
+
+    # Create opensfm working folder
+    mkdir_p("opensfm")
+
+    # Configure OpenSfM
+    config = [
+       "use_exif_size: no",
+       "features_process_size: {}".format(jobOptions["resizeTo"]),
+       "preemptive_threshold: 5",
+       "processes: {}".format(CORES),
+    ]
+    with open('opensfm/config.yaml', 'w') as fout:
+        fout.write("\n".join(config))
+
+    print 'running import_bundler'
+    # Convert bundler's input to opensfm
+    run('PYTHONPATH={} "{}/bin/import_bundler" opensfm --list list.txt'.format(PYOPENCV_PATH, OPENSFM_PATH))
+
+    # Run OpenSfM reconstruction
+    run('PYTHONPATH={} "{}/bin/run_all" opensfm'.format(PYOPENCV_PATH, OPENSFM_PATH))
+
+    # Convert back to bundler's format
+    run('PYTHONPATH={} "{}/bin/export_bundler" opensfm'.format(PYOPENCV_PATH, OPENSFM_PATH))
+
+    bundler_to_pmvs("opensfm/bundle_r000.out")
+
+    if args.end_with != "bundler":
+        cmvs()
+
+
+def bundler_to_pmvs(bundle_out):
+    """Converts bundler's output to PMVS format"""
+    print "\n  - converting bundler output to PMVS - " + now()
+
+    os.chdir(jobOptions['jobDir'])
+
+    mkdir_p(jobOptions['jobDir'] + "/pmvs")
+    mkdir_p(jobOptions['jobDir'] + "/pmvs/txt")
+    mkdir_p(jobOptions['jobDir'] + "/pmvs/visualize")
+    mkdir_p(jobOptions['jobDir'] + "/pmvs/models")
+
+    run("\"" + BIN_PATH + "/Bundle2PMVS\" \"" + jobOptions["step_3_filelist"] + "\" " + bundle_out)
+    run("\"" + BIN_PATH + "/RadialUndistort\" \"" + jobOptions["step_3_filelist"] + "\" " + bundle_out + " pmvs")
+
+    i = 0
+    for fileObject in objects:
+        if fileObject["isOk"]:
+            if os.path.isfile("pmvs/" + fileObject["base"] + ".rd.jpg"):
+                nr = "{0:08d}".format(i)
+                i += 1
+
+                run("mv pmvs/" + fileObject["base"] + ".rd.jpg pmvs/visualize/" + str(nr) + ".jpg")
+                run("mv pmvs/" + str(nr) + ".txt pmvs/txt/" + str(nr) + ".txt")
+
+    run("\"" + BIN_PATH + "/Bundle2Vis\" pmvs/bundle.rd.out pmvs/vis.dat")
+
+
+def cmvs():
+    """Run CMVS"""
+    print "\n  - running cmvs - " + now()
+
+    os.chdir(jobOptions["jobDir"])
+
+    run("\"" + BIN_PATH + "/cmvs\" pmvs/ " + str(args.cmvs_maxImages) + " " + str(CORES))
+    run("\"" + BIN_PATH + "/genOption\" pmvs/ " + str(args.pmvs_level) + " " + str(args.pmvs_csize) + " " + str(args.pmvs_threshold) + " " + str(args.pmvs_wsize) + " " + str(args.pmvs_minImageNum) + " " + str(CORES))
+
+
+def pmvs():
+    """Run PMVS"""
+    print "\n  - running pmvs - " + now()
+
+    os.chdir(jobOptions["jobDir"])
+
+    run("\"" + BIN_PATH + "/pmvs2\" pmvs/ option-0000")
+
+    run("cp -Rf \"" + jobOptions["jobDir"] + "/pmvs/models\" \"" + jobOptions["jobDir"] + "-results\"")
+
+
+def odm_meshing():
+    """Run odm_meshing"""
+    print "\n  - running meshing - " + now()
+
+    os.chdir(jobOptions["jobDir"])
+    try:
+        os.mkdir(jobOptions["jobDir"] + "/odm_meshing")
+    except:
+        pass
+
+    run("\"" + BIN_PATH + "/odm_meshing\" -inputFile " + jobOptions["jobDir"] + "-results/option-0000.ply -outputFile " + jobOptions["jobDir"] + "-results/odm_mesh-0000.ply -logFile " + jobOptions["jobDir"] + "/odm_meshing/odm_meshing_log.txt -maxVertexCount " + str(args.odm_meshing_maxVertexCount) + " -octreeDepth " + str(args.odm_meshing_octreeDepth) + " -samplesPerNode " + str(args.odm_meshing_samplesPerNode) + " -solverDivide " + str(args.odm_meshing_solverDivide))
+
+
+def odm_texturing():
+    """Run odm_texturing"""
+    print "\n  - running texturing - " + now()
+
+    os.chdir(jobOptions["jobDir"])
+    try:
+        os.mkdir(jobOptions["jobDir"] + "/odm_texturing")
+        os.mkdir(jobOptions["jobDir"] + "-results/odm_texturing")
+    except:
+        pass
+
+    # Create list of original image files
+    pmvs_list = jobOptions["jobDir"] + "/pmvs/list.rd.txt"
+    texturing_list = jobOptions['jobDir'] + "/odm_texturing/image_list.txt"
+    with open(pmvs_list) as fin:
+        with open(texturing_list, "w") as fout:
+            for line in fin:
+                base = line.rstrip('\n')[2:-4]
+                for fileObject in objects:
+                    if fileObject["base"] == base:
+                        fout.write("./{}\n".format(fileObject["src"]))
+                        break
+
+    run("\"" + BIN_PATH + "/odm_texturing\" -bundleFile " + jobOptions["jobDir"] + "/pmvs/bundle.rd.out -imagesPath " + jobOptions["srcDir"] + "/ -imagesListPath " + texturing_list + " -inputModelPath " + jobOptions["jobDir"] + "-results/odm_mesh-0000.ply -outputFolder " + jobOptions["jobDir"] + "-results/odm_texturing/ -textureResolution " + str(args.odm_texturing_textureResolution) + " -bundleResizedTo " + str(jobOptions["resizeTo"]) + " -textureWithSize " + str(args.odm_texturing_textureWithSize) + " -logFile " + jobOptions["jobDir"] + "/odm_texturing/odm_texturing_log.txt")
+
+
+def odm_georeferencing():
+    """Run odm_georeferencing"""
+    print "\n  - running georeferencing - " + now()
+
+    os.chdir(jobOptions["jobDir"])
+    try:
+        os.mkdir(jobOptions["jobDir"] + "/odm_georeferencing")
+    except:
+        pass
+
+    if not args.odm_georeferencing_useGcp:
+        run("\"" + BIN_PATH + "/odm_extract_utm\" -imagesPath " + jobOptions["srcDir"] + "/ -imageListFile " + jobOptions["jobDir"] + "/pmvs/list.rd.txt -outputCoordFile " + jobOptions["jobDir"] + "/odm_georeferencing/coordFile.txt")
+        run("\"" + BIN_PATH + "/odm_georef\" -bundleFile " + jobOptions["jobDir"] + "/pmvs/bundle.rd.out -inputCoordFile " + jobOptions["jobDir"] + "/odm_georeferencing/coordFile.txt -inputFile " + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model.obj -outputFile " + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model_geo.obj -inputPointCloudFile " + jobOptions["jobDir"] + "-results/option-0000.ply -outputPointCloudFile " + jobOptions["jobDir"] + "-results/option-0000_georef.ply -logFile " + jobOptions["jobDir"] + "/odm_georeferencing/odm_georeferencing_log.txt -georefFileOutputPath " + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model_geo_georef_system.txt")
+    elif os.path.isfile(jobOptions["srcDir"] + "/" + args.odm_georeferencing_gcpFile):
+        run("\"" + BIN_PATH + "/odm_georef\" -bundleFile " + jobOptions["jobDir"] + "/pmvs/bundle.rd.out -gcpFile " + jobOptions["srcDir"] + "/" + args.odm_georeferencing_gcpFile + " -imagesPath " + jobOptions["srcDir"] + "/ -imagesListPath " + jobOptions["jobDir"] + "/pmvs/list.rd.txt -bundleResizedTo " + str(jobOptions["resizeTo"]) + " -inputFile " + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model.obj -outputFile " + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model_geo.obj -outputCoordFile " + jobOptions["jobDir"] + "/odm_georeferencing/coordFile.txt -inputPointCloudFile " + jobOptions["jobDir"] + "-results/option-0000.ply -outputPointCloudFile " + jobOptions["jobDir"] + "-results/option-0000_georef.ply -logFile " + jobOptions["jobDir"] + "/odm_georeferencing/odm_georeferencing_log.txt -georefFileOutputPath " + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model_geo_georef_system.txt")
+    else:
+        print "Warning: No GCP file. Consider rerunning with argument --odm_georeferencing-useGcp false --start-with odm_georeferencing"
+        print "Skipping orthophoto"
+        args.end_with = "odm_georeferencing"
+
+    if "csString" not in jobOptions:
+        parse_coordinate_system()
+
+    if "csString" in jobOptions and "utmEastOffset" in jobOptions and "utmNorthOffset" in jobOptions:
+        images = []
+        with open(jobOptions["jobDir"] + "/pmvs/list.rd.txt") as f:
+            images = f.readlines()
+
+        if len(images) > 0:
+            with open(jobOptions["jobDir"] + "/odm_georeferencing/coordFile.txt") as f:
+                for lineNumber, line in enumerate(f):
+                    if lineNumber >= 2 and lineNumber - 2 < len(images):
+                        tokens = line.split(' ')
+                        if len(tokens) >= 3:
+                            x = float(tokens[0])
+                            y = float(tokens[1])
+                            z = float(tokens[2])
+                            filename = images[lineNumber - 2]
+                            run("echo " + str(x + jobOptions["utmEastOffset"]) + " " + str(y + jobOptions["utmNorthOffset"]) + " " + str(z) + " | cs2cs " + jobOptions["csString"] + " +to +datum=WGS84 +proj=latlong > " + jobOptions["jobDir"] + "/odm_georeferencing/latlong.txt")
+                            with open(jobOptions["jobDir"] + "/odm_georeferencing/latlong.txt") as latlongFile:
+                                latlongLine = latlongFile.readline()
+                                tokens = latlongLine.split()
+                                if len(tokens) >= 2:
+                                    exifGpsInfoWritten = False
+
+                                    lonString = tokens[0]  # Example: 83d18'16.285"W
+                                    latString = tokens[1]  # Example: 41d2'11.789"N
+                                    altString = ""
+                                    if len(tokens) > 2:
+                                        altString = tokens[2]  # Example: 0.998
+
+                                    tokens = re.split("[d '\"]+", lonString)
+                                    if len(tokens) >= 4:
+                                        lonDeg = tokens[0]
+                                        lonMin = tokens[1]
+                                        lonSec = tokens[2]
+                                        lonSecFrac = fractions.Fraction(lonSec)
+                                        lonSecNumerator = str(lonSecFrac._numerator)
+                                        lonSecDenominator = str(lonSecFrac._denominator)
+                                        lonRef = tokens[3]
+
+                                        tokens = re.split("[d '\"]+", latString)
+                                        if len(tokens) >= 4:
+                                            latDeg = tokens[0]
+                                            latMin = tokens[1]
+                                            latSec = tokens[2]
+                                            latSecFrac = fractions.Fraction(latSec)
+                                            latSecNumerator = str(latSecFrac._numerator)
+                                            latSecDenominator = str(latSecFrac._denominator)
+                                            latRef = tokens[3]
+
+                                            exivCmd = "exiv2 -q"
+                                            exivCmd += " -M\"set Exif.GPSInfo.GPSLatitude " + latDeg + "/1 " + latMin + "/1 " + latSecNumerator + "/" + latSecDenominator + "\""
+                                            exivCmd += " -M\"set Exif.GPSInfo.GPSLatitudeRef " + latRef + "\""
+                                            exivCmd += " -M\"set Exif.GPSInfo.GPSLongitude " + lonDeg + "/1 " + lonMin + "/1 " + lonSecNumerator + "/" + lonSecDenominator + "\""
+                                            exivCmd += " -M\"set Exif.GPSInfo.GPSLongitudeRef " + lonRef + "\""
+
+                                            altNumerator = arcDenominator = 0  # BUG: arcDenominator is never used
+                                            if altString:
+                                                altFrac = fractions.Fraction(altString)
+                                                altNumerator = str(altFrac._numerator)
+                                                altDenominator = str(altFrac._denominator)
+                                                exivCmd += " -M\"set Exif.GPSInfo.GPSAltitude " + altNumerator + "/" + altDenominator + "\""
+                                                exivCmd += " -M\"set Exif.GPSInfo.GPSAltitudeRef 0\""
+
+                                            exivCmd += " " + filename
+                                            run(exivCmd)
+                                            exifGpsInfoWritten = True
+
+                                    if not exifGpsInfoWritten:
+                                        print("    Warning: Failed setting EXIF GPS info for " + filename + " based on " + latlongLine)
+
+    if "epsg" in jobOptions and "utmEastOffset" in jobOptions and "utmNorthOffset" in jobOptions:
+        lasCmd = "\"" + BIN_PATH + "/txt2las\" -i " + jobOptions["jobDir"] + "-results/option-0000_georef.ply -o " + jobOptions["jobDir"] + "-results/pointcloud_georef.laz -skip 30 -parse xyzRGBssss -set_scale 0.01 0.01 0.01 -set_offset " + str(jobOptions["utmEastOffset"]) + " " + str(jobOptions["utmNorthOffset"]) + " 0 -translate_xyz " + str(jobOptions["utmEastOffset"]) + " " + str(jobOptions["utmNorthOffset"]) + " 0 -epsg " + str(jobOptions["epsg"])
+        print("    Creating geo-referenced LAS file (expecting warning)...")
+        run(lasCmd)
+
+
+def odm_orthophoto():
+    """Run odm_orthophoto"""
+    print "\n  - running orthophoto generation - " + now()
+
+    os.chdir(jobOptions["jobDir"])
+    try:
+        os.mkdir(jobOptions["jobDir"] + "/odm_orthophoto")
+    except:
+        pass
+
+    run("\"" + BIN_PATH + "/odm_orthophoto\" -inputFile " + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model_geo.obj -logFile " + jobOptions["jobDir"] + "/odm_orthophoto/odm_orthophoto_log.txt -outputFile " + jobOptions["jobDir"] + "-results/odm_orthphoto.png -resolution 20.0 -outputCornerFile " + jobOptions["jobDir"] + "/odm_orthphoto_corners.txt")
+
+    if "csString" not in jobOptions:
+        parse_coordinate_system()
+
+    geoTiffCreated = False
+    if ("csString" in jobOptions and
+            "utmEastOffset" in jobOptions and "utmNorthOffset" in jobOptions):
+        ulx = uly = lrx = lry = 0.0
+        with open(jobOptions["jobDir"] +
+                  "/odm_orthphoto_corners.txt") as f:
+            for lineNumber, line in enumerate(f):
+                if lineNumber == 0:
+                    tokens = line.split(' ')
+                    if len(tokens) == 4:
+                        ulx = float(tokens[0]) + \
+                            float(jobOptions["utmEastOffset"])
+                        lry = float(tokens[1]) + \
+                            float(jobOptions["utmNorthOffset"])
+                        lrx = float(tokens[2]) + \
+                            float(jobOptions["utmEastOffset"])
+                        uly = float(tokens[3]) + \
+                            float(jobOptions["utmNorthOffset"])
+
+        print("    Creating GeoTIFF...")
+        sys.stdout.write("    ")
+        run("gdal_translate -a_ullr " + str(ulx) + " " + str(uly) + " " +
+            str(lrx) + " " + str(lry) + " -a_srs \"" + jobOptions["csString"] +
+            "\" " + jobOptions["jobDir"] + "-results/odm_orthphoto.png " +
+            jobOptions["jobDir"] + "-results/odm_orthphoto.tif")
+        geoTiffCreated = True
+
+    if not geoTiffCreated:
+        print("    Warning: No geo-referenced orthophoto created due to "
+              "missing geo-referencing or corner coordinates.")
+
+
+if args.use_opensfm:
+    sfm_tasks = [
+        ("resize", resize),
+        ("opensfm", opensfm),
+    ]
+else:
+    sfm_tasks = [
+        ("resize", resize),
+        ("getKeypoints", getKeypoints),
+        ("match", match),
+        ("bundler", bundler),
+    ]
+
+tasks = sfm_tasks + [
+    ("cmvs", cmvs),
+    ("pmvs", pmvs),
+    ("odm_meshing", odm_meshing),
+    ("odm_texturing", odm_texturing),
+    ("odm_georeferencing", odm_georeferencing),
+    ("odm_orthophoto", odm_orthophoto),
+]
+
+
+if __name__ == '__main__':
+    prepare_objects()
+
+    os.chdir(jobOptions["jobDir"])
+
+    run_tasks = False
+    for name, func in tasks:
+        if args.start_with == name:
+            run_tasks = True
+        if run_tasks:
+            func()
+        if args.end_with == name:
+            break
+
+    if args.zip_results:
+        print "\nCompressing results - " + now()
+        run("cd " + jobOptions["jobDir"] + "-results/ && tar -czf " +
+            jobOptions["jobDir"] + "-results.tar.gz *")
+
+    print "\n  - done - " + now()

scripts/opensfm.py

@@ -1,4 +1,38 @@
-def opensfm():
+from opendm import log
+from opendm import dataset
+from opendm import system
+from opendm import context
+
+def opensfm(project_path, args, photos):
+
+    log.ODM_INFO('Running Open Structure from Motion (OpenSfm)')
+    
+    # check if we have input data
+    if photos is None:
+        log.ODM_WARNING('Photos array is empty - Proceed to load images')
+        photos = dataset.load_dataset(project_path, args)
+
+    # preconditions
+    if len(photos) < 1:
+        log.ODM_ERROR('Not enough photos in photos array to reconstruct')
+        return False
+
+    # create working directory
+    working_dir = dataset.join_paths(project_path, 'opensfm')
+    system.mkdir_p(working_dir)
+
+    # define opensfm execution command
+    cmd = dataset.join_paths(context.opensfm_path, 'bin/detect_features')
+
+    # run opensfm
+    #system.run('PYTHONPATH=%s %s %s' % (context.pyopencv_path, cmd, project_path))
+
+    #run('PYTHONPATH={} "{}/bin/run_all" opensfm'.format(PYOPENCV_PATH, OPENSFM_PATH))
+
+    return False
+
+
+def opensfm2():
     print "\n  - running OpenSfM - " + now()
 
     os.chdir(jobOptions["jobDir"])

scripts/resize.py

@@ -1,13 +1,19 @@
 import cv2
 import pyexiv2
 
-import log
-import system
-import dataset
+from opendm import log
+from opendm import system
+from opendm import dataset
 
-def resize(images_dir, args, photos):
+def resize(project_path, args, photos):
 
-    log.ODM_DEBUG('Preparing images - %s' % images_dir)
+    log.ODM_INFO('Preparing images - %s' % project_path)
+
+    # check if we have input data
+    if len(photos) == 0:
+        log.ODM_WARNING('Photos array is empty - Proceed to load images')
+        images_dir = dataset.join_paths(project_path, 'images')
+        photos = dataset.load_dataset(images_dir, args)
 
     # preconditions
     if len(photos) < 1:
@@ -15,7 +21,7 @@ def resize(images_dir, args, photos):
         return False
 
     # create working directory
-    working_dir = dataset.join_paths(images_dir, 'images_resize')
+    working_dir = dataset.join_paths(project_path, 'images_resize')
     system.mkdir_p(working_dir)
 
     # loop over photos
@@ -50,5 +56,5 @@ def resize(images_dir, args, photos):
             log.ODM_ERROR('%s' % e)
             return False
 
-    log.ODM_DEBUG('Resized %s images' % len(photos))
+    log.ODM_INFO('Resized %s images' % len(photos))
     return True

scripts/run.py

@@ -1,45 +0,0 @@
-#!/usr/bin/python
-
-import sys
-
-import log
-import config
-import system
-
-from datatypes import ODMApp
-
-def usage():
-	log.ODM_ERROR('USAGE: %s --images-src dataset_path' % sys.argv[0])
- 	log.ODM_ERROR('OpenDroneMap app finished - %s' % system.now())
- 	sys.exit(0)
-		
-if __name__ == '__main__':
-
-	log.ODM_INFO('Initializing OpenDroneMap app - %s' % system.now())
-
-	# Force to provide the images path
-	if config.args.get('images_src') is None:
-		usage()
-
-	# Initialize odm app
-	# internally configure all tasks
-	app = ODMApp(config.args)
-
-	log.ODM_INFO('Runnning OpenDroneMap app - %s' % system.now())
-
-	# run single task
-	if config.args.get('run_only') is not None:
-		# task to run
-		tasks = config.args['run_only']
-		app.run_all(tasks, tasks)
-
-	# run multiple tasks
-	else:
-		# get initial and final tasks
-		initial_task = config.args['start_with']
-		final_task = config.args['end_with']
-
-		# run tasks
-		app.run_all(initial_task, final_task)
-
- 	log.ODM_INFO('OpenDroneMap app finished - %s' % system.now())