Merge pull request #389 from paulinus/dense

Add option to use OpenSfM to compute the point cloud

Former-commit-id: 4883fa0ee7

SuperBuild/cmake/External-OpenSfM.cmake

@@ -8,8 +8,8 @@ ExternalProject_Add(${_proj_name}
   STAMP_DIR         ${_SB_BINARY_DIR}/stamp
   #--Download step--------------
   DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
-  URL               https://github.com/mapillary/OpenSfM/archive/a4b07056aec1184692c1432fbdd1074710aec32b.zip
+  URL               https://github.com/mapillary/OpenSfM/archive/odm-3.zip
-  URL_MD5           42B2B1994C3309BBF4525C8CC1F6F741
+  URL_MD5           a0853c6fe6d8193f7006e17dd896154e
   #--Update/Patch step----------
   UPDATE_COMMAND    ""
   #--Configure step-------------
@@ -17,6 +17,8 @@ ExternalProject_Add(${_proj_name}
   CONFIGURE_COMMAND cmake <SOURCE_DIR>/${_proj_name}/src
     -DCERES_ROOT_DIR=${SB_INSTALL_DIR}
     -DOpenCV_DIR=${SB_INSTALL_DIR}/share/OpenCV
+    -DOPENSFM_BUILD_TESTS=off
+
   #--Build step-----------------
   BINARY_DIR        ${_SB_BINARY_DIR}
   #--Install step---------------

configure.sh

@@ -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 \

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

@@ -85,6 +85,10 @@ class ODMMvsTexCell(ecto.Cell):
                 'keepUnseenFaces': keepUnseenFaces
             }
 
+            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))
 

scripts/odm_app.py

@@ -110,6 +110,12 @@ class ODMApp(ecto.BlackBox):
                         self.args[:] >> self.opensfm['args'],
                         self.resize['photos'] >> self.opensfm['photos']]
 
+        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'],
@@ -120,7 +126,7 @@ class ODMApp(ecto.BlackBox):
                             self.args[:] >> self.pmvs['args'],
                             self.cmvs['reconstruction'] >> self.pmvs['reconstruction']]
 
-        # create odm mesh
+            # create odm mesh from pmvs point cloud
             connections += [self.tree[:] >> self.meshing['tree'],
                             self.args[:] >> self.meshing['args'],
                             self.pmvs['reconstruction'] >> self.meshing['reconstruction']]

scripts/odm_georeferencing.py

@@ -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):

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:
@@ -77,12 +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' %
@@ -91,8 +101,8 @@ class ODMOpenSfMCell(ecto.Cell):
             log.ODM_WARNING('Found a valid Bundler file in: %s' %
                             tree.opensfm_reconstruction)
 
+        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' %