Add option to compute and use OpenSfM's point cloud

opendm/config.py

@@ -110,6 +110,12 @@ def config():
                              'images based on GPS exif data. Set to 0 to skip '
                              'pre-matching. Default: %(default)s')
 
+    parser.add_argument('--use-opensfm-pointcloud',
+                        action='store_true',
+                        default=False,
+                        help='Use OpenSfM to compute the point cloud instead '
+                             'of PMVS')
+
     parser.add_argument('--cmvs-maxImages',
                         metavar='<integer>',
                         default=500,

opendm/types.py

@@ -360,6 +360,7 @@ class ODM_Tree(object):
         self.opensfm_bundle_list = io.join_paths(self.opensfm, 'list_r000.out')
         self.opensfm_image_list = io.join_paths(self.opensfm, 'image_list.txt')
         self.opensfm_reconstruction = io.join_paths(self.opensfm, 'reconstruction.json')
+        self.opensfm_model = io.join_paths(self.opensfm, 'depthmaps/merged.ply')
 
         # pmvs
         self.pmvs_rec_path = io.join_paths(self.pmvs, 'recon0')

scripts/mvstex.py

@@ -84,14 +84,18 @@ class ODMMvsTexCell(ecto.Cell):
                 'skipHoleFilling': skipHoleFilling,
                 'keepUnseenFaces': keepUnseenFaces
             }
-            
-            log.ODM_DEBUG('Generating .nvm file from pmvs output: %s'
-                          % '{nvm_file}'.format(**kwargs))
-                          
-            # Create .nvm camera file.
-            pmvs2nvmcams.run('{pmvs_folder}'.format(**kwargs), 
-                             '{nvm_file}'.format(**kwargs))
-            
+
+            if args.use_opensfm_pointcloud:
+                kwargs['nvm_file'] = io.join_paths(tree.opensfm,
+                                                   "reconstruction.nvm")
+            else:
+                log.ODM_DEBUG('Generating .nvm file from pmvs output: %s'
+                              % '{nvm_file}'.format(**kwargs))
+
+                # Create .nvm camera file.
+                pmvs2nvmcams.run('{pmvs_folder}'.format(**kwargs),
+                                 '{nvm_file}'.format(**kwargs))
+
             # run texturing binary
             system.run('{bin} {nvm_file} {model} {out_dir} '
                        '-d {dataTerm} -o {outlierRemovalType} '

scripts/odm_app.py

@@ -110,20 +110,26 @@ class ODMApp(ecto.BlackBox):
                         self.args[:] >> self.opensfm['args'],
                         self.resize['photos'] >> self.opensfm['photos']]
 
-        # run cmvs
-        connections += [self.tree[:] >> self.cmvs['tree'],
-                        self.args[:] >> self.cmvs['args'],
-                        self.opensfm['reconstruction'] >> self.cmvs['reconstruction']]
+        if _p.args.use_opensfm_pointcloud:
+            # create odm mesh from opensfm point cloud
+            connections += [self.tree[:] >> self.meshing['tree'],
+                            self.args[:] >> self.meshing['args'],
+                            self.opensfm['reconstruction'] >> self.meshing['reconstruction']]
+        else:
+            # run cmvs
+            connections += [self.tree[:] >> self.cmvs['tree'],
+                            self.args[:] >> self.cmvs['args'],
+                            self.opensfm['reconstruction'] >> self.cmvs['reconstruction']]
 
-        # run pmvs
-        connections += [self.tree[:] >> self.pmvs['tree'],
-                        self.args[:] >> self.pmvs['args'],
-                        self.cmvs['reconstruction'] >> self.pmvs['reconstruction']]
+            # run pmvs
+            connections += [self.tree[:] >> self.pmvs['tree'],
+                            self.args[:] >> self.pmvs['args'],
+                            self.cmvs['reconstruction'] >> self.pmvs['reconstruction']]
 
-        # create odm mesh
-        connections += [self.tree[:] >> self.meshing['tree'],
-                        self.args[:] >> self.meshing['args'],
-                        self.pmvs['reconstruction'] >> self.meshing['reconstruction']]
+            # create odm mesh from pmvs point cloud
+            connections += [self.tree[:] >> self.meshing['tree'],
+                            self.args[:] >> self.meshing['args'],
+                            self.pmvs['reconstruction'] >> self.meshing['reconstruction']]
 
         # create odm texture
         connections += [self.tree[:] >> self.texturing['tree'],

scripts/odm_georeferencing.py

@@ -85,7 +85,6 @@ class ODMGeoreferencingCell(ecto.Cell):
                 'imgs': tree.dataset_raw,
                 'imgs_list': tree.opensfm_bundle_list,
                 'model': tree.odm_textured_model_obj,
-                'pc': tree.pmvs_model,
                 'log': tree.odm_georeferencing_log,
                 'coords': tree.odm_georeferencing_coords,
                 'pc_geo': tree.odm_georeferencing_model_ply_geo,
@@ -95,6 +94,10 @@ class ODMGeoreferencingCell(ecto.Cell):
                 'gcp': gcpfile,
 
             }
+            if args.use_opensfm_pointcloud:
+                kwargs['pc'] = tree.opensfm_model
+            else:
+                kwargs['pc'] = tree.pmvs_model
 
             if self.params.use_gcp and \
                io.file_exists(gcpfile):

scripts/odm_meshing.py

@@ -52,7 +52,6 @@ class ODMeshingCell(ecto.Cell):
 
             kwargs = {
                 'bin': context.odm_modules_path,
-                'infile': tree.pmvs_model,
                 'outfile': tree.odm_mesh,
                 'log': tree.odm_meshing_log,
                 'max_vertex': self.params.max_vertex,
@@ -60,6 +59,10 @@ class ODMeshingCell(ecto.Cell):
                 'samples': self.params.samples,
                 'solver': self.params.solver
             }
+            if args.use_opensfm_pointcloud:
+                kwargs['infile'] = tree.opensfm_model
+            else:
+                kwargs['infile'] = tree.pmvs_model
 
             # run meshing binary
             system.run('{bin}/odm_meshing -inputFile {infile} '

scripts/opensfm.py

@@ -48,9 +48,13 @@ class ODMOpenSfMCell(ecto.Cell):
                      (args.rerun_from is not None and
                       'opensfm' in args.rerun_from)
 
-        # check if reconstruction was done before
+        if args.use_opensfm_pointcloud:
+            output_file = tree.opensfm_model
+        else:
+            output_file = tree.opensfm_reconstruction
 
-        if not io.file_exists(tree.opensfm_reconstruction) or rerun_cell:
+        # check if reconstruction was done before
+        if not io.file_exists(output_file) or rerun_cell:
             # create file list
             list_path = io.join_paths(tree.opensfm, 'image_list.txt')
             with open(list_path, 'w') as fout:
@@ -77,31 +81,38 @@ class ODMOpenSfMCell(ecto.Cell):
             # run OpenSfM reconstruction
             system.run('PYTHONPATH=%s %s/bin/run_all %s' %
                        (context.pyopencv_path, context.opensfm_path, tree.opensfm))
+            if args.use_opensfm_pointcloud:
+                system.run('PYTHONPATH=%s %s/bin/opensfm export_visualsfm %s' %
+                           (context.pyopencv_path, context.opensfm_path, tree.opensfm))
+                system.run('PYTHONPATH=%s %s/bin/opensfm undistort %s' %
+                           (context.pyopencv_path, context.opensfm_path, tree.opensfm))
+                system.run('PYTHONPATH=%s %s/bin/opensfm compute_depthmaps %s' %
+                           (context.pyopencv_path, context.opensfm_path, tree.opensfm))
         else:
             log.ODM_WARNING('Found a valid OpenSfM file in: %s' %
                             tree.opensfm_reconstruction)
 
-        # check if reconstruction was exported to bundler before
+        if not args.use_opensfm_pointcloud:
+            # check if reconstruction was exported to bundler before
+            if not io.file_exists(tree.opensfm_bundle_list) or rerun_cell:
+                # convert back to bundler's format
+                system.run('PYTHONPATH=%s %s/bin/export_bundler %s' %
+                           (context.pyopencv_path, context.opensfm_path, tree.opensfm))
+            else:
+                log.ODM_WARNING('Found a valid Bundler file in: %s' %
+                                tree.opensfm_reconstruction)
 
-        if not io.file_exists(tree.opensfm_bundle_list) or rerun_cell:
-            # convert back to bundler's format
-            system.run('PYTHONPATH=%s %s/bin/export_bundler %s' %
-                       (context.pyopencv_path, context.opensfm_path, tree.opensfm))
-        else:
-            log.ODM_WARNING('Found a valid Bundler file in: %s' %
-                            tree.opensfm_reconstruction)
+            # check if reconstruction was exported to pmvs before
 
-        # check if reconstruction was exported to pmvs before
+            if not io.file_exists(tree.pmvs_visdat) or rerun_cell:
+                # run PMVS converter
+                system.run('PYTHONPATH=%s %s/bin/export_pmvs %s --output %s' %
+                           (context.pyopencv_path, context.opensfm_path, tree.opensfm, tree.pmvs))
+            else:
+                log.ODM_WARNING('Found a valid CMVS file in: %s' % tree.pmvs_visdat)
 
-        if not io.file_exists(tree.pmvs_visdat) or rerun_cell:
-            # run PMVS converter
-            system.run('PYTHONPATH=%s %s/bin/export_pmvs %s --output %s' %
-                       (context.pyopencv_path, context.opensfm_path, tree.opensfm, tree.pmvs))
-        else:
-            log.ODM_WARNING('Found a valid CMVS file in: %s' % tree.pmvs_visdat)
-
-        if args.time:
-            system.benchmark(start_time, tree.benchmarking, 'OpenSfM')
+            if args.time:
+                system.benchmark(start_time, tree.benchmarking, 'OpenSfM')
 
         log.ODM_INFO('Running ODM OpenSfM Cell - Finished')
         return ecto.OK if args.end_with != 'opensfm' else ecto.QUIT