mirror
/
OpenDroneMap-ODM
kopia lustrzana https://github.com/OpenDroneMap/ODM
1
0
Forkuj 0
Kod Zgłoszenia Projekty Wydania Wiki Aktywność

Merge pull request #389 from paulinus/dense 

Add option to use OpenSfM to compute the point cloud

Former-commit-id: 4883fa0ee7
pull/1161/head
Dakota Benjamin 2016-10-13 17:51:01 +02:00 zatwierdzone przez GitHub
rodzic 61e54115a1 7f5103772d
commit 75b0991cc1
9 zmienionych plików z 80 dodań i 39 usunięć
Pokaż statystyki Ściągnij plik aktualizacji Ściągnij plik porównania Expand all files Collapse all files

8
SuperBuild/cmake/External-OpenSfM.cmake
Wyświetl plik

@ -8,15 +8,17 @@ ExternalProject_Add(${_proj_name}
STAMP_DIR ${_SB_BINARY_DIR}/stamp
#--Download step--------------
DOWNLOAD_DIR ${SB_DOWNLOAD_DIR}
URL https://github.com/mapillary/OpenSfM/archive/a4b07056aec1184692c1432fbdd1074710aec32b.zip
URL_MD5 42B2B1994C3309BBF4525C8CC1F6F741
URL https://github.com/mapillary/OpenSfM/archive/odm-3.zip
URL_MD5 a0853c6fe6d8193f7006e17dd896154e
#--Update/Patch step----------
UPDATE_COMMAND ""
#--Configure step-------------
SOURCE_DIR ${SB_SOURCE_DIR}/${_proj_name}
CONFIGURE_COMMAND cmake <SOURCE_DIR>/${_proj_name}/src
-DCERES_ROOT_DIR=${SB_INSTALL_DIR}
-DCERES_ROOT_DIR=${SB_INSTALL_DIR}
-DOpenCV_DIR=${SB_INSTALL_DIR}/share/OpenCV
-DOPENSFM_BUILD_TESTS=off
#--Build step-----------------
BINARY_DIR ${_SB_BINARY_DIR}
#--Install step---------------

8
configure.sh
Wyświetl plik

@ -1,5 +1,10 @@
#!/bin/bash
## Set up library paths
RUNPATH="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
export PYTHONPATH=$RUNPATH/SuperBuild/install/lib/python2.7/dist-packages:$RUNPATH/SuperBuild/src/opensfm:$PYTHONPATH
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$RUNPATH/SuperBuild/install/lib
## Before installing
echo "Updating the system"
sudo apt-get update
@ -53,7 +58,8 @@ sudo apt-get install -y -qq python-networkx \
libboost-regex-dev \
libboost-python-dev \
libboost-date-time-dev \
libboost-thread-dev
libboost-thread-dev \
python-pyproj
sudo pip install -U PyYAML \
exifread \

6
opendm/config.py
Wyświetl plik

@ -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,

1
opendm/types.py
Wyświetl plik

@ -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')

20
scripts/mvstex.py
Wyświetl plik

@ -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} '

30
scripts/odm_app.py
Wyświetl plik

@ -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'],

5
scripts/odm_georeferencing.py
Wyświetl plik

@ -85,7 +85,6 @@ class ODMGeoreferencingCell(ecto.Cell):
'imgs': tree.dataset_resize,
'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):

5
scripts/odm_meshing.py
Wyświetl plik

@ -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} '

36
scripts/opensfm.py
Wyświetl plik

@ -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:
@ -77,12 +81,18 @@ 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 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' %
@ -91,17 +101,17 @@ class ODMOpenSfMCell(ecto.Cell):
log.ODM_WARNING('Found a valid Bundler file in: %s' %
tree.opensfm_reconstruction)
# check if reconstruction was exported to pmvs before
if not args.use_opensfm_pointcloud:
# 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