Merge pull request #1201 from pierotofy/221

Improved orthophotos, added --pc-quality flag

.github/workflows/codeql-analysis.yml

@@ -29,7 +29,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        language: [ 'cpp', 'python' ]
+        language: [ 'python' ]
         # CodeQL supports [ 'cpp', 'csharp', 'go', 'java', 'javascript', 'python' ]
         # Learn more...
         # https://docs.github.com/en/github/finding-security-vulnerabilities-and-errors-in-your-code/configuring-code-scanning#overriding-automatic-language-detection

SuperBuild/cmake/External-MvsTexturing.cmake

@@ -9,7 +9,7 @@ ExternalProject_Add(${_proj_name}
   #--Download step--------------
   DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}/${_proj_name}
   GIT_REPOSITORY    https://github.com/OpenDroneMap/mvs-texturing
-  GIT_TAG           200
+  GIT_TAG           221
   #--Update/Patch step----------
   UPDATE_COMMAND    ""
   #--Configure step-------------

VERSION

@@ -1 +1 @@
-2.2.0
+2.2.1

opendm/config.py

@@ -235,7 +235,7 @@ def config(argv=None, parser=None):
                         action=StoreValue,
                         type=float,
                         default=640,
-                        help=('Controls the density of the point cloud by setting the resolution of the depthmap images. Higher values take longer to compute '
+                        help=('Legacy option (use --pc-quality instead). Controls the density of the point cloud by setting the resolution of the depthmap images. Higher values take longer to compute '
                               'but produce denser point clouds. '
                               'Default: %(default)s'))
 
@@ -357,6 +357,15 @@ def config(argv=None, parser=None):
                           'Use 0 to disable cropping. '
                           'Default: %(default)s'))
 
+    parser.add_argument('--pc-quality',
+                    metavar='<string>',
+                    action=StoreValue,
+                    default='medium',
+                    choices=['ultra', 'high', 'medium', 'low'],
+                    help=('Set point cloud quality. Higher quality generates better, denser point clouds, but requires more memory and takes longer. Each step up in quality increases processing time roughly by a factor of 4x.'
+                        'Can be one of: %(choices)s. Default: '
+                        '%(default)s'))
+
     parser.add_argument('--pc-classify',
             action=StoreTrue,
             nargs=0,
@@ -446,17 +455,6 @@ def config(argv=None, parser=None):
                         help=('Data term: [area, gmi]. Default: '
                               '%(default)s'))
 
-    parser.add_argument('--texturing-nadir-weight',
-                        metavar='<integer: 0 <= x <= 32>',
-                        action=StoreValue,
-                        default=16,
-                        type=int,
-                        help=('Affects orthophotos only. '
-                              'Higher values result in sharper corners, but can affect color distribution and blurriness. '
-                              'Use lower values for planar areas and higher values for urban areas. '
-                              'The default value works well for most scenarios. Default: '
-                              '%(default)s'))
-
     parser.add_argument('--texturing-outlier-removal-type',
                         metavar='<string>',
                         action=StoreValue,

opendm/osfm.py

@@ -9,6 +9,8 @@ from opendm import log
 from opendm import system
 from opendm import context
 from opendm import camera
+from opendm.utils import get_depthmap_resolution
+from opendm.photo import find_largest_photo_dim
 from opensfm.large import metadataset
 from opensfm.large import tools
 from opensfm.actions import undistort
@@ -145,6 +147,7 @@ class OSFMContext:
             
             # Compute feature_process_size
             feature_process_size = 2048 # default
+
             if 'resize_to_is_set' in args:
                 # Legacy
                 log.ODM_WARNING("Legacy option --resize-to (this might be removed in a future version). Use --feature-quality instead.")
@@ -157,12 +160,8 @@ class OSFMContext:
                     'low': 0.125,
                     'lowest': 0.0675,
                 }
-                # Find largest photo dimension
-                max_dim = 0
-                for p in photos:
-                    if p.width is None:
-                        continue
-                    max_dim = max(max_dim, max(p.width, p.height))
+
+                max_dim = find_largest_photo_dim(photos)
 
                 if max_dim > 0:
                     log.ODM_INFO("Maximum photo dimensions: %spx" % str(max_dim))
@@ -170,6 +169,8 @@ class OSFMContext:
                 else:
                     log.ODM_WARNING("Cannot compute max image dimensions, going with defaults")
 
+            depthmap_resolution = get_depthmap_resolution(args, photos)
+
             # create config file for OpenSfM
             config = [
                 "use_exif_size: no",
@@ -180,7 +181,7 @@ class OSFMContext:
                 "matching_gps_neighbors: %s" % matcher_neighbors,
                 "matching_gps_distance: %s" % args.matcher_distance,
                 "depthmap_method: %s" % args.opensfm_depthmap_method,
-                "depthmap_resolution: %s" % args.depthmap_resolution,
+                "depthmap_resolution: %s" % 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 args.use_fixed_camera_params or args.cameras else 'yes'),

opendm/photo.py

@@ -15,6 +15,15 @@ import xmltodict as x2d
 from opendm import get_image_size
 from xml.parsers.expat import ExpatError
 
+def find_largest_photo_dim(photos):
+    max_dim = 0
+    for p in photos:
+        if p.width is None:
+            continue
+        max_dim = max(max_dim, max(p.width, p.height))
+        
+    return max_dim
+
 class ODM_Photo:
     """ODMPhoto - a class for ODMPhotos"""
 

opendm/utils.py

@@ -0,0 +1,23 @@
+from opendm import log
+from opendm.photo import find_largest_photo_dim
+
+def get_depthmap_resolution(args, photos):
+    if 'depthmap_resolution_is_set' in args:
+        # Legacy
+        log.ODM_WARNING("Legacy option --depthmap-resolution (this might be removed in a future version). Use --pc-quality instead.")
+        return int(args.depthmap_resolution)
+    else:
+        max_dim = find_largest_photo_dim(photos)
+
+        pc_quality_scale = {
+            'ultra': 0.5,
+            'high': 0.25,
+            'medium': 0.125,
+            'low': 0.0675
+        }
+
+        if max_dim > 0:
+            return int(max_dim * pc_quality_scale[args.pc_quality])
+        else:
+            log.ODM_WARNING("Cannot compute max image dimensions, going with default depthmap_resolution of 640")
+            return 640 # Sensible default

stages/mvstex.py

@@ -91,7 +91,6 @@ class ODMMvsTexStage(types.ODM_Stage):
                     'keepUnseenFaces': keepUnseenFaces,
                     'toneMapping': self.params.get('tone_mapping'),
                     'nadirMode': nadir,
-                    'nadirWeight': 2 ** args.texturing_nadir_weight - 1,
                     'nvm_file': r['nvm_file']
                 }
 
@@ -111,8 +110,7 @@ class ODMMvsTexStage(types.ODM_Stage):
                         '{skipLocalSeamLeveling} '
                         '{skipHoleFilling} '
                         '{keepUnseenFaces} '
-                        '{nadirMode} '
-                        '-n {nadirWeight}'.format(**kwargs))
+                        '{nadirMode}'.format(**kwargs))
                 
                 if args.optimize_disk_space:
                     cleanup_files = [

stages/openmvs.py

@@ -6,6 +6,7 @@ from opendm import system
 from opendm import context
 from opendm import point_cloud
 from opendm import types
+from opendm.utils import get_depthmap_resolution
 from opendm.osfm import OSFMContext
 
 class ODMOpenMVSStage(types.ODM_Stage):
@@ -39,15 +40,17 @@ class ODMOpenMVSStage(types.ODM_Stage):
             depthmaps_dir = os.path.join(tree.openmvs, "depthmaps")
             if not io.dir_exists(depthmaps_dir):
                 os.mkdir(depthmaps_dir)
+            
+            depthmap_resolution = get_depthmap_resolution(args, photos)
 
-            if outputs["undist_image_max_size"] <= args.depthmap_resolution:
+            if outputs["undist_image_max_size"] <= depthmap_resolution:
                 resolution_level = 0
             else:
-                resolution_level = math.floor(math.log(outputs['undist_image_max_size'] / float(args.depthmap_resolution)) / math.log(2))
+                resolution_level = math.floor(math.log(outputs['undist_image_max_size'] / float(depthmap_resolution)) / math.log(2))
 
             config = [
                 " --resolution-level %s" % int(resolution_level),
-	            "--min-resolution %s" % int(args.depthmap_resolution),
+	            "--min-resolution %s" % depthmap_resolution,
                 "--max-resolution %s" % int(outputs['undist_image_max_size']),
                 "--max-threads %s" % args.max_concurrency,
                 '-w "%s"' % depthmaps_dir, 

stages/run_opensfm.py

@@ -10,6 +10,7 @@ from opendm import context
 from opendm import gsd
 from opendm import point_cloud
 from opendm import types
+from opendm.utils import get_depthmap_resolution
 from opendm.osfm import OSFMContext
 from opendm import multispectral
 
@@ -60,7 +61,7 @@ class ODMOpenSfMStage(types.ODM_Stage):
         # since the undistorted images are used for MVS
         outputs['undist_image_max_size'] = max(
             gsd.image_max_size(photos, args.orthophoto_resolution, tree.opensfm_reconstruction, ignore_gsd=args.ignore_gsd, has_gcp=reconstruction.has_gcp()),
-            args.depthmap_resolution
+            get_depthmap_resolution(args, photos)
         )
 
         if not io.file_exists(updated_config_flag_file) or self.rerun():