Merge branch 'cmake' of https://github.com/edgarriba/OpenDroneMap into edgarriba-cmake

Conflicts: install.sh Changes to be committed: modified: .gitignore new file: CMakeLists.txt deleted: PoissonRecon.zip new file: SuperBuild/CMakeLists.txt new file: SuperBuild/cmake/External-CMVS.cmake new file: SuperBuild/cmake/External-Catkin.cmake new file: SuperBuild/cmake/External-Ceres.cmake new file: SuperBuild/cmake/External-Ecto.cmake new file: SuperBuild/cmake/External-GFlags.cmake new file: SuperBuild/cmake/External-LAStools.cmake new file: SuperBuild/cmake/External-OpenCV.cmake new file: SuperBuild/cmake/External-OpenGV.cmake new file: SuperBuild/cmake/External-OpenSfM.cmake new file: SuperBuild/cmake/External-PCL.cmake new file: SuperBuild/cmake/ExternalProject-Setup.cmake modified: ccd_defs_check.py deleted: clapack.tgz deleted: cmvs.tar.gz.part-aa deleted: cmvs.tar.gz.part-ab deleted: cmvs.tar.gz.part-ac deleted: cmvs.tar.gz.part-ad deleted: cmvs.tar.gz.part-ae new file: configure.sh deleted: convert_vlsift_to_lowesift.pl renamed: ccd_defs.json -> data/ccd_defs.json deleted: graclus.tar.gz modified: hooks/pre-commit deleted: install.sh deleted: knnMatch_exif.py new file: modules/CMakeLists.txt renamed: odm_extract_utm/CMakeLists.txt -> modules/odm_extract_utm/CMakeLists.txt renamed: odm_extract_utm/src/Logger.cpp -> modules/odm_extract_utm/src/Logger.cpp renamed: odm_extract_utm/src/Logger.hpp -> modules/odm_extract_utm/src/Logger.hpp renamed: odm_extract_utm/src/UtmExtractor.cpp -> modules/odm_extract_utm/src/UtmExtractor.cpp renamed: odm_extract_utm/src/UtmExtractor.hpp -> modules/odm_extract_utm/src/UtmExtractor.hpp renamed: odm_extract_utm/src/main.cpp -> modules/odm_extract_utm/src/main.cpp renamed: odm_georef/CMakeLists.txt -> modules/odm_georef/CMakeLists.txt renamed: odm_georef/CMakeLists.txt.user -> modules/odm_georef/CMakeLists.txt.user renamed: odm_georef/src/FindTransform.cpp -> modules/odm_georef/src/FindTransform.cpp renamed: odm_georef/src/FindTransform.hpp -> modules/odm_georef/src/FindTransform.hpp renamed: odm_georef/src/Georef.cpp -> modules/odm_georef/src/Georef.cpp renamed: odm_georef/src/Georef.hpp -> modules/odm_georef/src/Georef.hpp renamed: odm_georef/src/Logger.cpp -> modules/odm_georef/src/Logger.cpp renamed: odm_georef/src/Logger.hpp -> modules/odm_georef/src/Logger.hpp renamed: odm_georef/src/main.cpp -> modules/odm_georef/src/main.cpp renamed: odm_georef/src/modifiedPclFunctions.cpp -> modules/odm_georef/src/modifiedPclFunctions.cpp renamed: odm_georef/src/modifiedPclFunctions.hpp -> modules/odm_georef/src/modifiedPclFunctions.hpp renamed: odm_meshing/CMakeLists.txt -> modules/odm_meshing/CMakeLists.txt renamed: odm_meshing/src/Logger.cpp -> modules/odm_meshing/src/Logger.cpp renamed: odm_meshing/src/Logger.hpp -> modules/odm_meshing/src/Logger.hpp renamed: odm_meshing/src/OdmMeshing.cpp -> modules/odm_meshing/src/OdmMeshing.cpp renamed: odm_meshing/src/OdmMeshing.hpp -> modules/odm_meshing/src/OdmMeshing.hpp renamed: odm_meshing/src/main.cpp -> modules/odm_meshing/src/main.cpp renamed: odm_orthophoto/CMakeLists.txt -> modules/odm_orthophoto/CMakeLists.txt renamed: odm_orthophoto/CMakeLists.txt.user -> modules/odm_orthophoto/CMakeLists.txt.user renamed: odm_orthophoto/src/Logger.cpp -> modules/odm_orthophoto/src/Logger.cpp renamed: odm_orthophoto/src/Logger.hpp -> modules/odm_orthophoto/src/Logger.hpp renamed: odm_orthophoto/src/OdmOrthoPhoto.cpp -> modules/odm_orthophoto/src/OdmOrthoPhoto.cpp renamed: odm_orthophoto/src/OdmOrthoPhoto.hpp -> modules/odm_orthophoto/src/OdmOrthoPhoto.hpp renamed: odm_orthophoto/src/main.cpp -> modules/odm_orthophoto/src/main.cpp renamed: odm_texturing/CMakeLists.txt -> modules/odm_texturing/CMakeLists.txt renamed: odm_texturing/CMakeLists.txt.user -> modules/odm_texturing/CMakeLists.txt.user renamed: odm_texturing/src/Logger.cpp -> modules/odm_texturing/src/Logger.cpp renamed: odm_texturing/src/Logger.hpp -> modules/odm_texturing/src/Logger.hpp renamed: odm_texturing/src/OdmTexturing.cpp -> modules/odm_texturing/src/OdmTexturing.cpp renamed: odm_texturing/src/OdmTexturing.hpp -> modules/odm_texturing/src/OdmTexturing.hpp renamed: odm_texturing/src/main.cpp -> modules/odm_texturing/src/main.cpp renamed: odm_texturing/src/modifiedPclFunctions.cpp -> modules/odm_texturing/src/modifiedPclFunctions.cpp renamed: odm_texturing/src/modifiedPclFunctions.hpp -> modules/odm_texturing/src/modifiedPclFunctions.hpp new file: opendm/__init__.py new file: opendm/config.py new file: opendm/context.py new file: opendm/io.py new file: opendm/log.py new file: opendm/system.py new file: opendm/tasks.py new file: opendm/types.py modified: run.py new file: scripts/__init__.py new file: scripts/cmvs.py new file: scripts/dataset.py new file: scripts/example_ecto_python.py new file: scripts/odm_app.py new file: scripts/odm_georeferencing.py new file: scripts/odm_meshing.py new file: scripts/odm_orthophoto.py new file: scripts/odm_texturing.py new file: scripts/opensfm.py new file: scripts/pmvs.py new file: scripts/resize.py deleted: src/bundler deleted: vlfeat.tar.gz
2016-02-19 11:27:17 -05:00 · 2016-02-19 11:27:17 -05:00 · 7b41a963d1
commit 7b41a963d1
--- a/.gitignore
+++ b/.gitignore
@ -5,6 +5,7 @@ lib/
 logs/
 share/
 src/
+download/

 cmvs.tar.gz
 parallel.tar.bz2
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 2.8)
+
+project(OpenDroneMap C CXX)
+
+# TODO(edgar): add option in order to point to CMAKE_PREFIX_PATH
+# if we want to build SuperBuild in an external directory.
+# It is assumed that SuperBuild have been compiled.
+
+# Set third party libs location
+set(CMAKE_PREFIX_PATH "${CMAKE_CURRENT_SOURCE_DIR}/SuperBuild/install")
+
+# move binaries to the same bin directory
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/bin)
+
+# Add ODM sub-modules
+add_subdirectory(modules)
--- a/PoissonRecon.zip
+++ b/PoissonRecon.zip
--- a/SuperBuild/CMakeLists.txt
+++ b/SuperBuild/CMakeLists.txt
@ -0,0 +1,110 @@
+cmake_minimum_required(VERSION 2.8)
+
+project(ODM-SuperBuild)
+
+# Setup SuperBuild root location
+set(SB_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR})
+
+# Path to additional CMake modules
+set(CMAKE_MODULE_PATH ${SB_ROOT_DIR}/cmake)
+
+include(ExternalProject)
+include(ExternalProject-Setup)
+
+
+################################
+# Setup SuperBuild directories #
+################################
+
+# Setup location where source tar-balls are downloaded
+set(SB_DOWNLOAD_DIR "${SB_ROOT_DIR}/download"
+    CACHE PATH "Location where source tar-balls are (to be) downloaded.")
+mark_as_advanced(SB_DOWNLOAD_DIR)
+
+message(STATUS "SuperBuild files will be downloaded to: ${SB_DOWNLOAD_DIR}")
+
+
+# Setup location where source tar-balls are located
+set(SB_SOURCE_DIR "${SB_ROOT_DIR}/src"
+    CACHE PATH "Location where source tar-balls are (will be).")
+mark_as_advanced(SB_SOURCE_DIR)
+
+message(STATUS "SuperBuild source files will be extracted to: ${SB_SOURCE_DIR}")
+
+
+# Setup location where source tar-balls are located
+set(SB_INSTALL_DIR "${SB_ROOT_DIR}/install"
+    CACHE PATH "Location where source tar-balls are (will be) installed.")
+mark_as_advanced(SB_SOURCE_DIR)
+
+message(STATUS "SuperBuild source files will be installed to: ${SB_INSTALL_DIR}")
+
+
+# Setup location where binary files are located
+set(SB_BINARY_DIR "${SB_ROOT_DIR}/build"
+    CACHE PATH "Location where files are (will be) located.")
+mark_as_advanced(SB_BINARY_DIR)
+
+message(STATUS "SuperBuild binary files will be located to: ${SB_BINARY_DIR}")
+
+
+#########################################
+# Download and install third party libs #
+#########################################
+
+# ---------------------------------------------------------------------------------------------
+# Open Source Computer Vision (OpenCV)
+#
+set(ODM_OpenCV_Version 2.4.11)
+option(ODM_BUILD_OpenCV "Force to build OpenCV library" OFF)
+
+SETUP_EXTERNAL_PROJECT(OpenCV ${ODM_OpenCV_Version} ${ODM_BUILD_OpenCV})
+
+
+# ---------------------------------------------------------------------------------------------
+# Point Cloud Library (PCL)
+#
+set(ODM_PCL_Version 1.7.2)
+option(ODM_BUILD_PCL "Force to build PCL library" OFF)
+
+SETUP_EXTERNAL_PROJECT(PCL ${ODM_PCL_Version} ${ODM_BUILD_PCL})
+
+
+# ---------------------------------------------------------------------------------------------
+# Google Flags library (GFlags)
+#
+set(ODM_GFlags_Version 2.1.2)
+option(ODM_BUILD_GFlags "Force to build GFlags library" OFF)
+
+SETUP_EXTERNAL_PROJECT(GFlags ${ODM_GFlags_Version} ${ODM_BUILD_GFlags})
+
+
+# ---------------------------------------------------------------------------------------------
+# Ceres Solver
+#
+set(ODM_Ceres_Version 1.10.0)
+option(ODM_BUILD_Ceres "Force to build Ceres library" OFF)
+
+SETUP_EXTERNAL_PROJECT(Ceres ${ODM_Ceres_Version} ${ODM_BUILD_Ceres})
+
+
+# ---------------------------------------------------------------------------------------------
+# Open Geometric Vision (OpenGV)
+# Open Structure from Motion (OpenSfM)
+# Clustering Views for Multi-view Stereo (CMVS)
+# Catkin
+# Ecto
+# LAStools
+#
+
+set(custom_libs OpenGV
+				OpenSfM
+				CMVS
+				Catkin
+				Ecto
+				LAStools)
+
+foreach(lib ${custom_libs})
+	SETUP_EXTERNAL_PROJECT_CUSTOM(${lib})
+endforeach()
+
--- a/SuperBuild/cmake/External-CMVS.cmake
+++ b/SuperBuild/cmake/External-CMVS.cmake
@ -0,0 +1,28 @@
+set(_proj_name cmvs)
+set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
+
+ExternalProject_Add(${_proj_name}
+  PREFIX            ${_SB_BINARY_DIR}
+  TMP_DIR           ${_SB_BINARY_DIR}/tmp
+  STAMP_DIR         ${_SB_BINARY_DIR}/stamp
+  #--Download step--------------
+  DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}/${_proj_name}
+  URL               https://github.com/edgarriba/CMVS-PMVS/archive/master.zip
+  URL_MD5           dbb1493f49ca099b4208381bd20d1435
+  #--Update/Patch step----------
+  UPDATE_COMMAND    ""
+  #--Configure step-------------
+  SOURCE_DIR        ${SB_SOURCE_DIR}/${_proj_name}
+  CONFIGURE_COMMAND cmake <SOURCE_DIR>/program
+    -DCMAKE_RUNTIME_OUTPUT_DIRECTORY:PATH=${SB_INSTALL_DIR}/bin
+    -DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
+  #--Build step-----------------
+  BINARY_DIR        ${_SB_BINARY_DIR}
+  #--Install step---------------
+  INSTALL_DIR       ${SB_INSTALL_DIR}
+  #--Output logging-------------
+  LOG_DOWNLOAD      OFF
+  LOG_CONFIGURE     OFF
+  LOG_BUILD         OFF
+)
+
--- a/SuperBuild/cmake/External-Catkin.cmake
+++ b/SuperBuild/cmake/External-Catkin.cmake
@ -0,0 +1,26 @@
+set(_proj_name catkin)
+set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
+
+ExternalProject_Add(${_proj_name}
+  PREFIX            ${_SB_BINARY_DIR}
+  TMP_DIR           ${_SB_BINARY_DIR}/tmp
+  STAMP_DIR         ${_SB_BINARY_DIR}/stamp
+  #--Download step--------------
+  DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
+  URL               https://github.com/ros/catkin/archive/0.6.16.zip
+  URL_MD5           F5D45AE68709CE6E3346FB8C019416F8
+  #--Update/Patch step----------
+  UPDATE_COMMAND    ""
+  #--Configure step-------------
+  SOURCE_DIR        ${SB_SOURCE_DIR}/${_proj_name}
+  CMAKE_ARGS
+    -DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
+  #--Build step-----------------
+  BINARY_DIR        ${_SB_BINARY_DIR}
+  #--Install step---------------
+  INSTALL_DIR       ${SB_INSTALL_DIR}
+  #--Output logging-------------
+  LOG_DOWNLOAD      OFF
+  LOG_CONFIGURE     OFF
+  LOG_BUILD         OFF
+)
--- a/SuperBuild/cmake/External-Ceres.cmake
+++ b/SuperBuild/cmake/External-Ceres.cmake
@ -0,0 +1,31 @@
+set(_proj_name ceres)
+set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
+
+ExternalProject_Add(${_proj_name}
+  DEPENDS           gflags
+  PREFIX            ${_SB_BINARY_DIR}
+  TMP_DIR           ${_SB_BINARY_DIR}/tmp
+  STAMP_DIR         ${_SB_BINARY_DIR}/stamp
+  #--Download step--------------
+  DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
+  URL               http://ceres-solver.org/ceres-solver-1.10.0.tar.gz
+  URL_MD5           dbf9f452bd46e052925b835efea9ab16
+  #--Update/Patch step----------
+  UPDATE_COMMAND    ""
+  #--Configure step-------------
+  SOURCE_DIR        ${SB_SOURCE_DIR}/${_proj_name}
+  CMAKE_ARGS
+    -DCMAKE_C_FLAGS=-fPIC
+    -DCMAKE_CXX_FLAGS=-fPIC
+    -DBUILD_EXAMPLES=OFF
+    -DBUILD_TESTING=OFF
+    -DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
+  #--Build step-----------------
+  BINARY_DIR        ${_SB_BINARY_DIR}
+  #--Install step---------------
+  INSTALL_DIR       ${SB_INSTALL_DIR}
+  #--Output logging-------------
+  LOG_DOWNLOAD      OFF
+  LOG_CONFIGURE     OFF
+  LOG_BUILD         OFF
+)
--- a/SuperBuild/cmake/External-Ecto.cmake
+++ b/SuperBuild/cmake/External-Ecto.cmake
@ -0,0 +1,27 @@
+set(_proj_name ecto)
+set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
+
+ExternalProject_Add(${_proj_name}
+  DEPENDS           catkin
+  PREFIX            ${_SB_BINARY_DIR}
+  TMP_DIR           ${_SB_BINARY_DIR}/tmp
+  STAMP_DIR         ${_SB_BINARY_DIR}/stamp
+  #--Download step--------------
+  DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}/${_proj_name}
+  URL               https://github.com/plasmodic/ecto/archive/master.zip
+  URL_MD5           8cd70c525bcda99d9eba5ac2865e42dd
+  #--Update/Patch step----------
+  UPDATE_COMMAND    ""
+  #--Configure step-------------
+  SOURCE_DIR        ${SB_SOURCE_DIR}/${_proj_name}
+  CMAKE_ARGS
+    -DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
+  #--Build step-----------------
+  BINARY_DIR        ${_SB_BINARY_DIR}
+  #--Install step---------------
+  INSTALL_DIR       ${SB_INSTALL_DIR}
+  #--Output logging-------------
+  LOG_DOWNLOAD      OFF
+  LOG_CONFIGURE     OFF
+  LOG_BUILD         OFF
+)
--- a/SuperBuild/cmake/External-GFlags.cmake
+++ b/SuperBuild/cmake/External-GFlags.cmake
@ -0,0 +1,27 @@
+set(_proj_name gflags)
+set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
+
+ExternalProject_Add(${_proj_name}
+  PREFIX            ${_SB_BINARY_DIR}
+  TMP_DIR           ${_SB_BINARY_DIR}/tmp
+  STAMP_DIR         ${_SB_BINARY_DIR}/stamp
+  #--Download step--------------
+  DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
+  URL               https://github.com/gflags/gflags/archive/v2.1.2.zip
+  URL_MD5           5cb0a1b38740ed596edb7f86cd5b3bd8
+  #--Update/Patch step----------
+  UPDATE_COMMAND    ""
+  #--Configure step-------------
+  SOURCE_DIR        ${SB_SOURCE_DIR}/${_proj_name}
+  CMAKE_ARGS
+    -DCMAKE_BUILD_TYPE:STRING=Release
+    -DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
+  #--Build step-----------------
+  BINARY_DIR        ${_SB_BINARY_DIR}
+  #--Install step---------------
+  INSTALL_DIR       ${SB_INSTALL_DIR}
+  #--Output logging-------------
+  LOG_DOWNLOAD      OFF
+  LOG_CONFIGURE     OFF
+  LOG_BUILD         OFF
+)
--- a/SuperBuild/cmake/External-LAStools.cmake
+++ b/SuperBuild/cmake/External-LAStools.cmake
@ -0,0 +1,26 @@
+set(_proj_name las-tools)
+set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
+
+ExternalProject_Add(${_proj_name}
+  PREFIX            ${_SB_BINARY_DIR}
+  TMP_DIR           ${_SB_BINARY_DIR}/tmp
+  STAMP_DIR         ${_SB_BINARY_DIR}/stamp
+  #--Download step--------------
+  DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
+  URL               http://lastools.org/download/LAStools.zip
+  #--Update/Patch step----------
+  UPDATE_COMMAND    ""
+  #--Configure step-------------
+  SOURCE_DIR        ${SB_SOURCE_DIR}/${_proj_name}
+  CONFIGURE_COMMAND ""
+  WORKING_DIRECTORY "${SB_SOURCE_DIR}/${_proj_name}"
+  #--Build step-----------------
+  BUILD_IN_SOURCE 1
+  #--Install step---------------
+  INSTALL_DIR       ${SB_INSTALL_DIR}
+  INSTALL_COMMAND ""
+  #--Output logging-------------
+  LOG_DOWNLOAD      OFF
+  LOG_CONFIGURE     OFF
+  LOG_BUILD         OFF
+)
--- a/SuperBuild/cmake/External-OpenCV.cmake
+++ b/SuperBuild/cmake/External-OpenCV.cmake
@ -0,0 +1,60 @@
+set(_proj_name opencv)
+set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
+
+ExternalProject_Add(${_proj_name}
+  PREFIX            ${_SB_BINARY_DIR}
+  TMP_DIR           ${_SB_BINARY_DIR}/tmp
+  STAMP_DIR         ${_SB_BINARY_DIR}/stamp
+  #--Download step--------------
+  DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
+  URL               https://github.com/Itseez/opencv/archive/2.4.11.zip
+  URL_MD5           b517e83489c709eee1d8be76b16976a7
+  #--Update/Patch step----------
+  UPDATE_COMMAND    ""
+  #--Configure step-------------
+  SOURCE_DIR        ${SB_SOURCE_DIR}/${_proj_name}
+  CMAKE_ARGS
+    -DBUILD_opencv_core=ON
+    -DBUILD_opencv_imgproc=ON
+    -DBUILD_opencv_highgui=ON
+    -DBUILD_opencv_video=ON
+    -DBUILD_opencv_ml=ON
+    -DBUILD_opencv_features2d=ON
+    -DBUILD_opencv_calib3d=ON
+    -DBUILD_opencv_contrib=ON
+    -DBUILD_opencv_flann=ON
+    -DBUILD_opencv_objdetect=ON
+    -DBUILD_opencv_photo=ON
+    -DBUILD_opencv_legacy=ON
+    -DBUILD_opencv_python=ON
+    -DWITH_FFMPEG=OFF
+    -DWITH_CUDA=OFF
+    -DWITH_GTK=OFF
+    -DWITH_VTK=OFF
+    -DWITH_EIGEN=OFF
+    -DWITH_OPENNI=OFF
+    -DBUILD_EXAMPLES=OFF
+    -DBUILD_TESTS=OFF
+    -DBUILD_PERF_TESTS=OFF
+    -DBUILD_DOCS=OFF
+    -DBUILD_opencv_apps=OFF
+    -DBUILD_opencv_gpu=OFF
+    -DBUILD_opencv_videostab=OFF
+    -DBUILD_opencv_nonfree=OFF
+    -DBUILD_opencv_stitching=OFF
+    -DBUILD_opencv_world=OFF
+    -DBUILD_opencv_superres=OFF
+    -DBUILD_opencv_java=OFF
+    -DBUILD_opencv_ocl=OFF
+    -DBUILD_opencv_ts=OFF
+    -DCMAKE_BUILD_TYPE:STRING=Release
+    -DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
+  #--Build step-----------------
+  BINARY_DIR        ${_SB_BINARY_DIR}
+  #--Install step---------------
+  INSTALL_DIR       ${SB_INSTALL_DIR}
+  #--Output logging-------------
+  LOG_DOWNLOAD      OFF
+  LOG_CONFIGURE     OFF
+  LOG_BUILD         OFF
+)
--- a/SuperBuild/cmake/External-OpenGV.cmake
+++ b/SuperBuild/cmake/External-OpenGV.cmake
@ -0,0 +1,29 @@
+set(_proj_name opengv)
+set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
+
+ExternalProject_Add(${_proj_name}
+  PREFIX            ${_SB_BINARY_DIR}
+  TMP_DIR           ${_SB_BINARY_DIR}/tmp
+  STAMP_DIR         ${_SB_BINARY_DIR}/stamp
+  #--Download step--------------
+  DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
+  URL               https://github.com/paulinus/opengv/archive/python-wrapper.zip
+  URL_MD5           6afd5dfbec8f11b556e794d009bbbcc2
+  #--Update/Patch step----------
+  UPDATE_COMMAND    ""
+  #--Configure step-------------
+  SOURCE_DIR        ${SB_SOURCE_DIR}/${_proj_name}
+  CMAKE_ARGS
+    -DBUILD_TESTS=OFF 
+    -DBUILD_PYTHON=ON
+    -DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
+  #--Build step-----------------
+  BINARY_DIR        ${_SB_BINARY_DIR}
+  #--Install step---------------
+  INSTALL_DIR       ${SB_INSTALL_DIR}
+  #--Output logging-------------
+  LOG_DOWNLOAD      OFF
+  LOG_CONFIGURE     OFF
+  LOG_BUILD         OFF
+)
+
--- a/SuperBuild/cmake/External-OpenSfM.cmake
+++ b/SuperBuild/cmake/External-OpenSfM.cmake
@ -0,0 +1,29 @@
+set(_proj_name opensfm)
+set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
+
+ExternalProject_Add(${_proj_name}
+  DEPENDS           ceres opencv opengv
+  PREFIX            ${_SB_BINARY_DIR}
+  TMP_DIR           ${_SB_BINARY_DIR}/tmp
+  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
+  #--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} 
+    -DOpenCV_DIR=${SB_INSTALL_DIR}/share/OpenCV
+  #--Build step-----------------
+  BINARY_DIR        ${_SB_BINARY_DIR}
+  #--Install step---------------
+  INSTALL_COMMAND    ""
+  #--Output logging-------------
+  LOG_DOWNLOAD      OFF
+  LOG_CONFIGURE     OFF
+  LOG_BUILD         OFF
+)
+
--- a/SuperBuild/cmake/External-PCL.cmake
+++ b/SuperBuild/cmake/External-PCL.cmake
@ -0,0 +1,52 @@
+set(_proj_name pcl)
+set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
+
+ExternalProject_Add(${_proj_name}
+  PREFIX            ${_SB_BINARY_DIR}
+  TMP_DIR           ${_SB_BINARY_DIR}/tmp
+  STAMP_DIR         ${_SB_BINARY_DIR}/stamp
+  #--Download step--------------
+  DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
+  URL               https://github.com/PointCloudLibrary/pcl/archive/pcl-1.7.2.tar.gz
+  URL_MD5           02c72eb6760fcb1f2e359ad8871b9968
+  #--Update/Patch step----------
+  UPDATE_COMMAND    ""
+  #--Configure step-------------
+  SOURCE_DIR        ${SB_SOURCE_DIR}/${_proj_name}
+  CMAKE_ARGS
+    -DBUILD_features=OFF
+    -DBUILD_filters=OFF
+    -DBUILD_geometry=OFF
+    -DBUILD_keypoints=OFF
+    -DBUILD_outofcore=OFF
+    -DBUILD_people=OFF
+    -DBUILD_recognition=OFF
+    -DBUILD_registration=OFF
+    -DBUILD_sample_consensus=OFF
+    -DBUILD_segmentation=OFF
+    -DBUILD_features=OFF
+    -DBUILD_surface_on_nurbs=OFF
+    -DBUILD_tools=OFF
+    -DBUILD_tracking=OFF
+    -DBUILD_visualization=OFF
+    -DWITH_QT=OFF
+    -DBUILD_OPENNI=OFF
+    -DBUILD_OPENNI2=OFF
+    -DWITH_OPENNI=OFF
+    -DWITH_OPENNI2=OFF
+    -DWITH_FZAPI=OFF
+    -DWITH_LIBUSB=OFF
+    -DWITH_PCAP=OFF
+    -DWITH_PXCAPI=OFF
+    -DCMAKE_BUILD_TYPE=Release
+    -DPCL_VERBOSITY_LEVEL=Error
+    -DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
+  #--Build step-----------------
+  BINARY_DIR        ${_SB_BINARY_DIR}
+  #--Install step---------------
+  INSTALL_DIR       ${SB_INSTALL_DIR}
+  #--Output logging-------------
+  LOG_DOWNLOAD      OFF
+  LOG_CONFIGURE     OFF
+  LOG_BUILD         OFF
+)
--- a/SuperBuild/cmake/ExternalProject-Setup.cmake
+++ b/SuperBuild/cmake/ExternalProject-Setup.cmake
@ -0,0 +1,27 @@
+set(ADD_INTERNAL_LIB_MSG "--- Adding internal version")
+set(FORCE_BUILD_LIB_MSG "force build ${ADD_INTERNAL_LIB_MSG}")
+
+macro(SETUP_EXTERNAL_PROJECT name version force_build)
+
+  if(NOT ${force_build})
+
+    find_package(${name} ${version} EXACT QUIET)
+
+    if(${${name}_FOUND})
+      message(STATUS "${name} ${${name}_VERSION} found")
+      set(${name}_DIR ${${name}_DIR})
+    else()
+      message(STATUS "${name} ${version} not found ${ADD_INTERNAL_LIB_MSG}")
+      include(External-${name})
+    endif()
+  else()
+    message(STATUS "${name} ${version} ${FORCE_BUILD_LIB_MSG}")
+    include(External-${name})
+  endif()
+
+endmacro()
+
+macro(SETUP_EXTERNAL_PROJECT_CUSTOM name)
+  message(STATUS "${name} ${FORCE_BUILD_LIB_MSG}")
+  include(External-${name})
+endmacro()
--- a/ccd_defs_check.py
+++ b/ccd_defs_check.py
@ -7,7 +7,7 @@ BIN_PATH_ABS = os.path.abspath(os.path.dirname(os.path.abspath(__file__)))

 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:
+	with open(BIN_PATH_ABS + '/data/ccd_defs.json') as jsonFile:
 		return json.load(jsonFile)

 try:
--- a/clapack.tgz
+++ b/clapack.tgz
--- a/cmvs.tar.gz.part-aa
+++ b/cmvs.tar.gz.part-aa
--- a/cmvs.tar.gz.part-ab
+++ b/cmvs.tar.gz.part-ab
--- a/cmvs.tar.gz.part-ac
+++ b/cmvs.tar.gz.part-ac
--- a/cmvs.tar.gz.part-ad
+++ b/cmvs.tar.gz.part-ad
--- a/cmvs.tar.gz.part-ae
+++ b/cmvs.tar.gz.part-ae
--- a/configure.sh
+++ b/configure.sh
@ -0,0 +1,122 @@
+#!/bin/bash
+
+# Check OS
+if [ ! $(command -v apt-get) ]; then
+  echo -e "\e[1;31mERROR: Not a Debian-based linux system. 
+           Impossible to install OpenCV with this script\e[0;39m"
+  exit 1
+fi
+
+## Before installing
+echo -e "\e[1;34mUpdating the system\e[0;39m"
+sudo apt-get update
+END_CMD1=$?
+sudo apt-get upgrade -y
+END_CMD2=$?
+if [ $END_CMD1 -ne 0 -o $END_CMD2 -ne 0 ]
+then
+	echo -e "\e[1;31mERROR: \e[39mWhen Updating the system\e[0m"
+	exit 1
+fi
+
+## Install Required Requisites
+echo -e "\e[1;34mInstalling Required Requisites\e[0;39m"
+sudo apt-get install build-essential \
+                     cmake \
+                     git \
+                     python-pip \
+                     pkg-config -y
+if [ $? -ne 0 ] 
+then
+    echo -e "\e[1;31mERROR: \e[39mWhen Installing Required Requisites\e[0m"
+    exit 1
+fi
+
+## Installing Optional Requisites
+echo -e "\e[1;34mInstalling OpenCV Dependencies\e[0;39m"
+sudo apt-get install libgtk2.0-dev \
+                     libavcodec-dev \
+                     libavformat-dev \
+                     libswscale-dev \
+                     python-dev \
+                     python-numpy \
+                     libtbb2 \
+                     libtbb-dev \
+                     libjpeg-dev \
+                     libpng-dev \
+                     libtiff-dev \
+                     libjasper-dev \
+                     libflann-dev \
+                     libproj-dev \
+                     libxext-dev \
+                     liblapack-dev \
+                     libeigen3-dev \
+                     libvtk5-dev -y
+if [ $? -ne 0 ] 
+then
+    echo -e "\e[1;31mERROR: \e[39mError when Installing Dependencies Requisites\e[0m"
+    exit 1
+fi
+
+## Remove libdc1394-22-dev due to python opencv issue
+echo -e "\e[1;34mRemoving libdc1394-22-dev\e[0;39m"
+sudo apt-get remove libdc1394-22-dev
+
+## Installing OpenSfM Requisites
+echo -e "\e[1;34mInstalling OpenSfM Dependencies\e[0;39m"
+sudo apt-get install python-networkx \
+                     libgoogle-glog-dev \
+                     libsuitesparse-dev \
+                     libboost-filesystem1.55-dev \
+                     libboost-iostreams1.55-dev \
+                     libboost-regex1.55-dev \
+                     libboost-python1.55-dev \
+                     #libboost1.55-all-dev \
+                     libboost-python-dev -y
+
+sudo pip install -U PyYAML \
+                    exifread \
+                    gpxpy \
+                    xmltodict
+if [ $? -ne 0 ] 
+then
+    echo -e "\e[1;31mERROR: \e[39mError when Installing OpenSfM Dependencies\e[0m"
+    exit 1
+fi
+
+## Installing Ecto Requisites
+echo -e "\e[1;34mInstalling Ecto Dependencies\e[0;39m"
+sudo pip install -U catkin-pkg
+sudo apt-get install python-empy \
+                     python-nose \
+                     python-pyside -y
+if [ $? -ne 0 ] 
+then
+    echo -e "\e[1;31mERROR: \e[39mError when Installing Ecto Dependencies\e[0m"
+    exit 1
+fi
+
+## Installing OpenDroneMap Requisites
+echo -e "\e[1;34mInstalling OpenDroneMap Dependencies\e[0;39m"
+sudo apt-get install python-pyexiv2 \
+                     python-scipy \
+                     jhead \
+                     liblas-bin -y
+if [ $? -ne 0 ] 
+then
+    echo -e "\e[1;31mERROR: \e[39mError when Installing OpenDroneMap Dependencies\e[0m"
+    exit 1
+fi
+
+## Get sys vars
+NUM_CORES=`grep -c processor /proc/cpuinfo`
+
+## Add SuperBuild path to the python path
+export PYTHONPATH=$PYTHONPATH:`pwd`/SuperBuild/install/lib/python2.7/dist-packages
+
+## Compile SuperBuild
+cd SuperBuild
+mkdir -p build && cd build
+cmake .. && make -j ${NUM_CORES}
+
+echo -e "\e[1;34mScript finished\e[0;39m"
--- a/convert_vlsift_to_lowesift.pl
+++ b/convert_vlsift_to_lowesift.pl
@ -1,112 +0,0 @@
-#!/usr/local/bin/perl
-
-$filename_base	= $ARGV[0];
-                           
-$write_binary	= 1;    
-         
-$filename_src		= $filename_base.".key.sift";
-$filename_dest_bin	= $filename_base.".key.bin";
-$filename_dest_key	= $filename_base.".key";
-$filename_image		= $filename_base.".pgm";   
-
-open (DEST_BIN, ">$filename_dest_bin");
-open (DEST_KEY, ">$filename_dest_key");
-
-open (SRC, "$filename_src");
-
-$linecount = 0;
-$linecount += tr/\n/\n/ while sysread(SRC, $_, 2 ** 16);
-
-printf ("%d", $linecount);
-
-if($write_binary){              
-	seek(SRC, 0, 0);
-	
-	print DEST_BIN pack("L", $linecount);
-
-	while ($record = <SRC>) {  
-		@parts = split(/ /, $record);             
-		
-		if(@parts[3] > 3.141){
-			@parts[3] -= 6.282;
-		} 
-		        
-		@parts[3] *= -1;  
-		
-       	@tmp	  = @parts[0];
-		@parts[0] = @parts[1];
-	    @parts[1] = @tmp;               
-			
-	   	for ($count = 4; $count < 132; $count += 8) {
-			@tmp			 = @parts[$count+7];
-			@parts[$count+7] = @parts[$count+1];
-			@parts[$count+1] = @tmp;
-
-			@tmp			 = @parts[$count+6];
-			@parts[$count+6] = @parts[$count+2];
-			@parts[$count+2] = @tmp;
-
-			@tmp			 = @parts[$count+3];
-			@parts[$count+3] = @parts[$count+5];
-			@parts[$count+5] = @tmp;
-		}            
-		
-		print DEST_BIN pack("f4 C128", @parts);
-	}
-} 
-
-	seek(SRC, 0, 0);
-
-	print DEST_KEY $linecount, " 128\n";  
-
-	while ($record = <SRC>) {
-		@parts = split(/ /, $record);
-	
-		$counter = 0;
-	
-		if(@parts[3] > 3.141){
-			@parts[3] -= 6.282;
-		}
-	         	
-		@parts[3] *= -1;              
-	
-		printf (DEST_KEY "%.3f %.3f %.3f %.3f", @parts[1], @parts[0], @parts[2], @parts[3]);
-	
-		shift(@parts);
-		shift(@parts);
-		shift(@parts);
-		shift(@parts);
-	
-		for ($count = 0; $count < 128; $count += 8) {
-			@tmp			 = @parts[$count+7];
-			@parts[$count+7] = @parts[$count+1];
-			@parts[$count+1] = @tmp;
-		
-			@tmp			 = @parts[$count+6];
-			@parts[$count+6] = @parts[$count+2];
-			@parts[$count+2] = @tmp;
-		
-			@tmp			 = @parts[$count+3];
-			@parts[$count+3] = @parts[$count+5];
-			@parts[$count+5] = @tmp;
-		}
-	
-		foreach (@parts) {
-			if((($counter) % 20) == 0) {
-				print DEST_KEY "\n ";
-			} else {
-				if($counter != 0){
-					print DEST_KEY " ";
-				}
-			}
-		
-			print DEST_KEY $_;
-		
-			$counter++;
-		}
-	} 
-
-
-close(DEST_BIN);
-close(DEST_KEY);
-close(SRC);
--- a/data/ccd_defs.json
+++ b/data/ccd_defs.json
--- a/graclus.tar.gz
+++ b/graclus.tar.gz
--- a/hooks/pre-commit
+++ b/hooks/pre-commit
@ -10,7 +10,6 @@
 exec 1>&2

 echo "RUNNING PRE-COMMIT"
-
 EXIT_CODE=0
 # Get list of files about to be committed
 if git diff --cached --name-only --diff-filter=ACM | grep 'ccd_defs.json'; then
--- a/install.sh
+++ b/install.sh
@ -1,559 +0,0 @@
-#!/bin/bash
-
-set -o nounset
-set -o errexit
-
-echo 
-echo "     created by Daniel Schwarz/daniel.schwarz@topoi.org"
-echo "     released under Creative Commons/CC-BY"
-echo "     Attribution"
-echo
-echo "     if the script doesn't finish properly"
-echo "     (i.e. it doesn't print \"script finished\" at the end)"
-echo "     please email me the content of the logs folder"
-echo
-echo
-echo "  - script started - `date`"
-
-            ## dest base path
-          TOOLS_PATH="$PWD"
-
-            ## paths for the tools
-      TOOLS_BIN_PATH="$TOOLS_PATH/bin"
-      TOOLS_INC_PATH="$TOOLS_PATH/include"
-      TOOLS_LIB_PATH="$TOOLS_PATH/lib"
-        TOOLS_SRC_PATH="$TOOLS_PATH/src"
-      TOOLS_LOG_PATH="$TOOLS_PATH/logs"
-  TOOLS_PATCHED_PATH="$TOOLS_PATH/patched_files"
-
-            ## loacal dest paths
-		        LIB_PATH="/usr/local/lib"
-		        INC_PATH="/usr/local/include"
-		
-            ## source paths
-	      BUNDLER_PATH="$TOOLS_SRC_PATH/bundler"
-	         CMVS_PATH="$TOOLS_SRC_PATH/cmvs"
-	         PMVS_PATH="$TOOLS_SRC_PATH/pmvs"
-	      CLAPACK_PATH="$TOOLS_SRC_PATH/clapack"
-	       VLFEAT_PATH="$TOOLS_SRC_PATH/vlfeat"
-	     PARALLEL_PATH="$TOOLS_SRC_PATH/parallel"
-	          PSR_PATH="$TOOLS_SRC_PATH/PoissonRecon"
-        GRACLUS_PATH="$TOOLS_SRC_PATH/graclus"
-          CERES_PATH="$TOOLS_SRC_PATH/ceres-solver"
-
-                  PCL_PATH="$TOOLS_SRC_PATH/pcl"
-             LASTOOLS_PATH="$TOOLS_SRC_PATH/lastools"
-          ODM_MESHING_PATH="$TOOLS_SRC_PATH/odm_meshing"
-        ODM_TEXTURING_PATH="$TOOLS_SRC_PATH/odm_texturing"
-       ODM_ORTHOPHOTO_PATH="$TOOLS_SRC_PATH/odm_orthophoto"
-      ODM_EXTRACT_UTM_PATH="$TOOLS_SRC_PATH/odm_extract_utm"
-           ODM_GEOREF_PATH="$TOOLS_SRC_PATH/odm_georef"
-
-         OPENGV_PATH="$TOOLS_SRC_PATH/opengv"
-        OPENSFM_PATH="$TOOLS_SRC_PATH/OpenSfM"
-
-            ## executables
-	     EXTRACT_FOCAL="$TOOLS_BIN_PATH/extract_focal.pl"
-	         MATCHKEYS="$TOOLS_BIN_PATH/KeyMatch"
-	     MATCHKEYSFULL="$TOOLS_BIN_PATH/KeyMatchFull"
-	           BUNDLER="$TOOLS_BIN_PATH/bundler"
-	       BUNDLE2PVMS="$TOOLS_BIN_PATH/Bundle2PMVS"
-	              CMVS="$TOOLS_BIN_PATH/cmvs"
-	              PMVS="$TOOLS_BIN_PATH/pmvs2"
-	         GENOPTION="$TOOLS_BIN_PATH/genOption"
-	            VLSIFT="$TOOLS_BIN_PATH/vlsift"
-	          PARALLEL="$TOOLS_BIN_PATH/parallel"
-	               PSR="$TOOLS_BIN_PATH/PoissonRecon"
-	VLSIFT_TO_LOWESIFT="$TOOLS_BIN_PATH/convert_vlsift_to_lowesift.pl"
-
-               ODM_MESHING="$TOOLS_BIN_PATH/odm_meshing"
-             ODM_TEXTURING="$TOOLS_BIN_PATH/odm_texturing"
-            ODM_ORTHOPHOTO="$TOOLS_BIN_PATH/odm_orthophoto"
-           ODM_EXTRACT_UTM="$TOOLS_BIN_PATH/odm_extract_utm"
-                ODM_GEOREF="$TOOLS_BIN_PATH/odm_georef"
-
-## get sys vars
-ARCH=`uname -m`
-CORES=`grep -c processor /proc/cpuinfo`
-
-## prevents different (localized) output
-LC_ALL=C
-
-## removing old stuff
-sudo rm -Rf "$TOOLS_BIN_PATH"
-sudo rm -Rf "$TOOLS_INC_PATH"
-sudo rm -Rf "$TOOLS_LIB_PATH"
-sudo rm -Rf "$TOOLS_SRC_PATH"
-sudo rm -Rf "$TOOLS_LOG_PATH"
-
-## create needed directories
-mkdir -p "$TOOLS_BIN_PATH"
-mkdir -p "$TOOLS_INC_PATH"
-mkdir -p "$TOOLS_LIB_PATH"
-mkdir -p "$TOOLS_SRC_PATH"
-mkdir -p "$TOOLS_LOG_PATH"
-
-## Copy meshing and texturing to src folder
-cp -rf "odm_meshing" "$TOOLS_SRC_PATH/"
-cp -rf "odm_texturing" "$TOOLS_SRC_PATH/"
-cp -rf "odm_orthophoto" "$TOOLS_SRC_PATH/"
-cp -rf "odm_extract_utm" "$TOOLS_SRC_PATH/"
-cp -rf "odm_georef" "$TOOLS_SRC_PATH/"
-
-## output sys info
-echo "System info:" > "$TOOLS_LOG_PATH/sysinfo.txt"
-uname -a > "$TOOLS_LOG_PATH/sysinfo.txt"
-
-## install packages
-echo
-echo "  > installing required packages"
-
-echo "    - updating"
-sudo apt-get update --assume-yes > "$TOOLS_LOG_PATH/apt-get_get.log" 2>&1
-
-echo "    - installing"
-if [[ `lsb_release -rs` == "12.04" ]];
-then
-sudo apt-get install --assume-yes --install-recommends \
-  build-essential cmake g++ gcc gFortran perl git autoconf \
-  curl wget \
-  unzip \
-  imagemagick jhead proj-bin libproj-dev\
-  libjpeg-dev libboost1.48-all-dev libgsl0-dev libx11-dev libxext-dev liblapack-dev \
-  libeigen3-dev libflann-dev libvtk5-dev libqhull-dev libusb-1.0-0-dev\
-  libzip-dev \
-  libswitch-perl libjson-perl \
-  libcv-dev libcvaux-dev libopencv-dev \
-  gdal-bin \
-  exiv2 \
-  libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev \
-  > "$TOOLS_LOG_PATH/apt-get_install.log" 2>&1
-else
-sudo apt-get install --assume-yes --install-recommends \
-  build-essential cmake g++ gcc gFortran perl git autoconf \
-  curl wget \
-  unzip \
-  imagemagick jhead proj-bin libproj-dev\
-  libjpeg-dev libboost-all-dev libgsl0-dev libx11-dev libxext-dev liblapack-dev \
-  libeigen3-dev libflann-dev libvtk5-dev libqhull-dev libusb-1.0-0-dev\
-  libjson-perl \
-  libzip-dev \
-  libswitch-perl \
-  libcv-dev libcvaux-dev libopencv-dev \
-  libgoogle-glog-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev \
-  python-dev python-pip libboost-python-dev \
-  python-numpy-dev python-scipy python-yaml \
-  python-opencv python-pyexiv2 \
-  gdal-bin \
-  exiv2 \
-  > "$TOOLS_LOG_PATH/apt-get_install.log" 2>&1
-fi
-
-sudo pip install networkx exifread xmltodict
-
-echo "    - installing git submodules"
-git submodule init
-git submodule update
-
-echo "  < done - `date`"
-
-## downloading sources
-echo
-echo "  > getting the sources"
-
-## Reconstruct CMVS tar.gz from pieces...
-cat cmvs.tar.gz.part-?? > cmvs.tar.gz
-
-## getting all archives if not already present; save them to .tmp and rename them after download
-while read target source
-do
-  if [ ! -f "$target" ] ; then
-    echo "    - getting $source"
-    
-    curl --progress-bar --location -o "$target.tmp" "$source"
-    mv "$target.tmp" "$target"
-    echo "    - finished $target"
-    echo
-  else
-    echo "    - already downloaded $source"
-  fi
-done <<EOF
-parallel.tar.bz2  http://ftp.gnu.org/gnu/parallel/parallel-20141022.tar.bz2
-clapack.tgz  http://www.netlib.org/clapack/clapack-3.2.1-CMAKE.tgz
-PoissonRecon.zip http://www.cs.jhu.edu/~misha/Code/PoissonRecon/Version2/PoissonRecon.zip
-vlfeat.tar.gz http://www.vlfeat.org/download/vlfeat-0.9.13-bin.tar.gz
-cmvs.tar.gz http://www.di.ens.fr/cmvs/cmvs-fix2.tar.gz
-graclus.tar.gz http://smathermather.github.io/BundlerTools/patched_files/src/graclus/graclus1.2.tar.gz
-pcl.tar.gz https://github.com/PointCloudLibrary/pcl/archive/pcl-1.7.2.tar.gz
-ceres-solver.tar.gz http://ceres-solver.org/ceres-solver-1.10.0.tar.gz
-LAStools.zip http://lastools.org/download/LAStools.zip
-EOF
-git clone  https://github.com/paulinus/opengv.git $OPENGV_PATH
-git clone  https://github.com/mapillary/OpenSfM.git $OPENSFM_PATH
-
-echo "  < done - `date`"
-
-## unzipping sources
-echo
-echo "  - unzipping sources"
-
-for i in *.tar.bz2 ; do
-  tar xjf "$i" > "$TOOLS_LOG_PATH/extract_$i.log" 2>&1 & 
-done
-for i in *.tgz *.tar.gz ; do
-  tar xzf "$i" > "$TOOLS_LOG_PATH/extract_$i.log" 2>&1 &
-done
-for i in *.zip ; do
-  unzip "$i" > "$TOOLS_LOG_PATH/extract_$i.log" 2>&1 &
-done
-
-wait
-
-mv -f graclus1.2          "$GRACLUS_PATH"
-mv -f clapack-3.2.1-CMAKE "$CLAPACK_PATH"
-mv -f vlfeat-0.9.13       "$VLFEAT_PATH"
-mv -f parallel-20141022   "$PARALLEL_PATH"
-mv -f PoissonRecon        "$PSR_PATH"
-mv -f cmvs                "$CMVS_PATH"
-mv -f pcl-pcl-1.7.2       "$PCL_PATH"
-mv -f ceres-solver-1.10.0 "$CERES_PATH"
-mv -f LAStools            "$LASTOOLS_PATH"
-
-
-echo "  < done - `date`"
-
-
-## copying patches
-echo
-echo "  - copying patches"
-echo
-
-for file in `find $TOOLS_PATCHED_PATH -type f -print` ; do
-  cp $file $TOOLS_PATH/${file/$TOOLS_PATCHED_PATH/.}
-done
-
-echo "  < done - `date`"
-
-
-# building
-echo
-echo "  - building"
-echo
-
-sudo chown -R `id -u`:`id -g` *
-#sudo chmod -R 777 *
-
-
-echo "  > graclus"
-	cd "$GRACLUS_PATH"
-
-	if [ "$ARCH" = "i686" ]; then
-		sed -i "$GRACLUS_PATH/Makefile.in" -e "11c\COPTIONS = -DNUMBITS=32"
-	fi
-
-	if [ "$ARCH" = "x86_64" ]; then
-		sed -i "$GRACLUS_PATH/Makefile.in" -e "11c\COPTIONS = -DNUMBITS=64"
-	fi
-	
-	echo "    - cleaning graclus"
-	make clean > "$TOOLS_LOG_PATH/graclus_1_clean.log" 2>&1
-
-	echo "    - building graclus"
-	make -j$CORES > "$TOOLS_LOG_PATH/graclus_2_build.log" 2>&1
-   
-	mkdir "$TOOLS_INC_PATH/metisLib"
-	cp -f "$GRACLUS_PATH/metisLib/"*.h "$TOOLS_INC_PATH/metisLib/"
-
-	cp -f lib* "$TOOLS_LIB_PATH/"
-echo "  < done - `date`"
-echo
-
-echo "  > poisson surface reconstruction "
-  cd "$PSR_PATH"
-  
-  sed -i "$PSR_PATH/Makefile" -e "21c\BIN = ./"
-    
-  echo "    - building poisson surface reconstruction"
-  make -j$CORES > "$TOOLS_LOG_PATH/poisson_1_build.log" 2>&1
-  
-  cp -f "$PSR_PATH/PoissonRecon" "$TOOLS_BIN_PATH/PoissonRecon"
-  
-echo "  < done - `date`"
-echo
-
-
-echo "  > parallel"
-  cd "$PARALLEL_PATH"
-  
-  echo "    - configuring parallel"
-  ./configure > "$TOOLS_LOG_PATH/parallel_1_build.log" 2>&1
-  
-  echo "    - building paralel"
-  make -j$CORES> "$TOOLS_LOG_PATH/parallel_2_build.log" 2>&1
-  
-  cp -f src/parallel "$TOOLS_BIN_PATH/"
-  
-echo "  < done - `date`"
-echo
-
-
-echo "  > clapack"
-  cd "$CLAPACK_PATH"
-  cp make.inc.example make.inc
-  
-  set +e
-  echo "    - building clapack"
-  make -j$CORES all > "$TOOLS_LOG_PATH/clapack_1_build.log" 2>&1
-  set -e
-  
-  echo "    - installing clapack"
-  make -j$CORES lapack_install > "$TOOLS_LOG_PATH/clapack_2_install.log" 2>&1
-
-  sudo cp -Rf INCLUDE "$INC_PATH/clapack"
-  
-echo "  < done - `date`"
-echo
-
-
-echo "  > vlfeat"
-  cd "$VLFEAT_PATH"
-  
-  echo "    - installing vlfeat"
-  
-  if [ "$ARCH" = "i686" ]; then
-    cp -f "$VLFEAT_PATH/bin/glnx86/sift" "$TOOLS_BIN_PATH/vlsift"
-    cp -f "$VLFEAT_PATH/bin/glnx86/libvl.so" "$TOOLS_LIB_PATH/"
-  fi
-
-  if [ "$ARCH" = "x86_64" ]; then
-    cp -f "$VLFEAT_PATH/bin/glnxa64/sift" "$TOOLS_BIN_PATH/vlsift"
-    cp -f "$VLFEAT_PATH/bin/glnxa64/libvl.so" "$TOOLS_LIB_PATH/"
-  fi
-echo "  < done - `date`"
-echo
-
-echo "  > LAStools"
-  cd "$LASTOOLS_PATH"
-  
-  echo "    - installing LAStools"
-  
-  make -j$CORES > "$TOOLS_LOG_PATH/lastools_1_build.log" 2>&1
-
-  if [ "$ARCH" = "i686" ]; then
-    cp -f "$LASTOOLS_PATH/bin/txt2las" "$TOOLS_BIN_PATH/txt2las"
-  fi
-
-  if [ "$ARCH" = "x86_64" ]; then
-    cp -f "$LASTOOLS_PATH/bin/txt2las" "$TOOLS_BIN_PATH/txt2las"
-  fi
-echo "  < done - `date`"
-echo
-
-
-echo "  > cmvs/pmvs"
-  cd "$CMVS_PATH/program/main"
-
-  sed -i "$CMVS_PATH/program/main/genOption.cc" -e "5c\#include <stdlib.h>\n" 
-  sed -i "$CMVS_PATH/program/base/cmvs/bundle.cc" -e "3c\#include <numeric>\n"
-
-  sed -i "$CMVS_PATH/program/main/Makefile" -e "10c\#Your INCLUDE path (e.g., -I\/usr\/include)" 
-  sed -i "$CMVS_PATH/program/main/Makefile" -e "11c\YOUR_INCLUDE_PATH =-I$INC_PATH -I$TOOLS_INC_PATH" 
-  sed -i "$CMVS_PATH/program/main/Makefile" -e "13c\#Your metis directory (contains header files under graclus1.2/metisLib/)" 
-  sed -i "$CMVS_PATH/program/main/Makefile" -e "14c\YOUR_INCLUDE_METIS_PATH = -I$TOOLS_INC_PATH/metisLib/"
-  sed -i "$CMVS_PATH/program/main/Makefile" -e "16c\#Your LDLIBRARY path (e.g., -L/usr/lib)" 
-  sed -i "$CMVS_PATH/program/main/Makefile" -e "17c\YOUR_LDLIB_PATH = -L$LIB_PATH -L$TOOLS_LIB_PATH"
-
-  if [ "$ARCH" = "i686" ]; then
-    sed -i "$CMVS_PATH/program/main/Makefile" -e "22c\CXXFLAGS_CMVS = -O2 -Wall -Wno-deprecated -DNUMBITS=32 \\\\"
-    sed -i "$CMVS_PATH/program/main/Makefile" -e '24c\    -fopenmp -DNUMBITS=32 ${OPENMP_FLAG}'
-  fi
-
-  if [ "$ARCH" = "x86_64" ]; then
-    sed -i "$CMVS_PATH/program/main/Makefile" -e "22c\CXXFLAGS_CMVS = -O2 -Wall -Wno-deprecated -DNUMBITS=64 \\\\"
-    sed -i "$CMVS_PATH/program/main/Makefile" -e '24c\    -fopenmp -DNUMBITS=64 ${OPENMP_FLAG}'
-  fi
-
-  echo "    - cleaning cmvs"
-  make clean > "$TOOLS_LOG_PATH/cmvs_1_clean.log" 2>&1
-
-  echo "    - building cmvs"
-  make -j$CORES > "$TOOLS_LOG_PATH/cmvs_2_build.log" 2>&1
-
-  echo "    - make depend cmvs"
-  sudo make depend > "$TOOLS_LOG_PATH/cmvs_3_depend.log" 2>&1
-
-  cp -f "$CMVS_PATH/program/main/cmvs" "$CMVS_PATH/program/main/pmvs2" "$CMVS_PATH/program/main/genOption" "$TOOLS_BIN_PATH/"
-  cp -f "$CMVS_PATH/program/main/"*so* "$TOOLS_LIB_PATH/"
-echo "  < done - `date`"
-echo
-
-echo "  > ceres"
-  cd "$CERES_PATH"
-
-  echo "    - configuring ceres"
-  mkdir -p build
-  cd build
-  cmake .. -DCMAKE_INSTALL_PREFIX=$TOOLS_PATH \
-           -DCMAKE_C_FLAGS=-fPIC -DCMAKE_CXX_FLAGS=-fPIC \
-           -DBUILD_EXAMPLES=OFF -DBUILD_TESTING=OFF  > "$TOOLS_LOG_PATH/ceres_1_config.log" 2>&1
-
-  echo "    - building ceres"
-  make -j$CORES install > "$TOOLS_LOG_PATH/ceres_1_build.log" 2>&1
-
-echo "  < done - `date`"
-echo
-
-echo "  > bundler"
-  cd "$BUNDLER_PATH"
-
-  echo "    - cleaning bundler"
-  make clean > "$TOOLS_LOG_PATH/bundler_1_clean.log" 2>&1
-
-  echo "    - building bundler"
-  make -j$CORES  > "$TOOLS_LOG_PATH/bundler_2_build.log" 2>&1
-
-  ln -s "$BUNDLER_PATH/bin/Bundle2PMVS" "$BUNDLER_PATH/bin/Bundle2Vis" "$BUNDLER_PATH/bin/KeyMatchFull" "$BUNDLER_PATH/bin/KeyMatch" "$BUNDLER_PATH/bin/bundler" "$BUNDLER_PATH/bin/RadialUndistort" "$TOOLS_BIN_PATH/"
-
-  ln -s "$BUNDLER_PATH/lib/libANN_char.so" "$TOOLS_LIB_PATH/"
-echo "  < done - `date`"
-echo
-
-echo "  > pcl "
-	#cd "$PCL_PATH"
-	
-	#Install pcl dependencies using the default package manager.
-	#sudo apt-get install libeigen3-dev libflann-dev libvtk5-dev libqhull-dev
-
-	#install the required boost version.
-	#sudo apt-get install libboost1.48-all-dev
-
-	mkdir -p "pcl"
-	mkdir -p "$TOOLS_LIB_PATH/pcl"
-	mkdir -p "$PCL_PATH/pcl_tmp"
-	mkdir -p "$PCL_PATH/pcl_build"
-
-	#mv -f "pcl-pcl-1.7.2" "$PCL_PATH/pcl_tmp"
-
-	cd "$PCL_PATH/pcl_build"
-
-	echo "    - configuring pcl"
-  	
-	cmake .. -DCMAKE_INSTALL_PREFIX="$TOOLS_LIB_PATH/pcl" -DCMAKE_BUILD_TYPE=Release -DPCL_VERBOSITY_LEVEL=Error -DBUILD_features=OFF -DBUILD_filters=OFF -DBUILD_geometry=OFF -DBUILD_keypoints=OFF -DBUILD_outofcore=OFF -DBUILD_people=OFF -DBUILD_recognition=OFF -DBUILD_registration=OFF -DBUILD_sample_consensus=OFF -DBUILD_segmentation=OFF -DBUILD_features=OFF -DBUILD_surface_on_nurbs=OFF -DBUILD_tools=OFF -DBUILD_tracking=OFF -DBUILD_visualization=OFF -DWITH_QT=OFF -DBUILD_OPENNI=OFF -DBUILD_OPENNI2=OFF -DWITH_OPENNI=OFF -DWITH_OPENNI2=OFF -DWITH_FZAPI=OFF -DWITH_LIBUSB=OFF -DWITH_PCAP=OFF -DWITH_PXCAPI=OFF > "$TOOLS_LOG_PATH/pcl_1_build.log" 2>&1
-  
-	echo "    - building and installing pcl"
-	make install > "$TOOLS_LOG_PATH/pcl_2_build.log" 2>&1
-
-echo "  < done - `date`"
-echo
-
-echo "  > meshing "
-	cd "$ODM_MESHING_PATH"
-	
-	echo "    - configuring odm_meshing"
-	cmake . -DPCL_DIR="$TOOLS_LIB_PATH/pcl" > "$TOOLS_LOG_PATH/odm_meshing_1_build.log" 2>&1
-	
-	echo "    - building odm_meshing"
-	make -j$CORES > "$TOOLS_LOG_PATH/odm_meshing_2_build.log" 2>&1
-	
-	# copy output program to the binaries folder.
-	cp -f "odm_meshing" "$TOOLS_BIN_PATH/odm_meshing"	
-	
-echo "  < done - `date`"
-echo
-
-echo "  > texturing "
-	cd "$ODM_TEXTURING_PATH"
-	
-	echo "    - configuring odm_texturing"
-	cmake . -DPCL_DIR="$TOOLS_LIB_PATH/pcl" > "$TOOLS_LOG_PATH/odm_texturing_1_build.log" 2>&1
-	
-	echo "    - building odm_texturing"
-	make -j$CORES > "$TOOLS_LOG_PATH/odm_texturing_2_build.log" 2>&1
-	
-	# copy output program to the binaries folder.
-	cp -f "odm_texturing" "$TOOLS_BIN_PATH/odm_texturing"	
-	
-echo "  < done - `date`"
-echo
-
-echo "  > extract_utm "
-	cd "$ODM_EXTRACT_UTM_PATH"
-	
-	echo "    - configuring odm_extract_utm"
-	cmake . > "$TOOLS_LOG_PATH/odm_extract_utm_1_build.log" 2>&1
-	
-	echo "    - building odm_extract_utm"
-	make -j$CORES > "$TOOLS_LOG_PATH/odm_extract_utm_2_build.log" 2>&1
-	
-	# copy output program to the binaries folder.
-	cp -f "odm_extract_utm" "$TOOLS_BIN_PATH/odm_extract_utm"	
-	
-echo "  < done - `date`"
-echo
-
-echo "  > georef "
-	cd "$ODM_GEOREF_PATH"
-	
-	echo "    - configuring odm_georef"
-	cmake . -DPCL_DIR="$TOOLS_LIB_PATH/pcl" > "$TOOLS_LOG_PATH/odm_georef_1_build.log" 2>&1
-	
-	echo "    - building odm_georef"
-	make -j$CORES > "$TOOLS_LOG_PATH/odm_georef_2_build.log" 2>&1
-	
-	# copy output program to the binaries folder.
-	cp -f "odm_georef" "$TOOLS_BIN_PATH/odm_georef"	
-	
-echo "  < done - `date`"
-echo
-
-echo "  > orthophoto "
-	cd "$ODM_ORTHOPHOTO_PATH"
-	
-	echo "    - configuring odm_orthophoto"
-	cmake . -DPCL_DIR="$TOOLS_LIB_PATH/pcl" > "$TOOLS_LOG_PATH/odm_orthophoto_1_build.log" 2>&1
-	
-	echo "    - building odm_orthophoto"
-	make -j$CORES > "$TOOLS_LOG_PATH/odm_orthophoto_2_build.log" 2>&1
-	
-	# copy output program to the binaries folder.
-	cp -f "odm_orthophoto" "$TOOLS_BIN_PATH/odm_orthophoto"	
-	
-echo "  < done - `date`"
-echo
-
-echo "  > OpenGV"
-  cd "$OPENGV_PATH"
-
-  echo "    - configuring opengv"
-  git checkout python-wrapper
-  mkdir -p build
-  cd build
-  cmake .. -DCMAKE_INSTALL_PREFIX=$TOOLS_PATH -DBUILD_TESTS=OFF -DBUILD_PYTHON=ON > "$TOOLS_LOG_PATH/opengv_1_build.log" 2>&1
-  echo "    - building opengv"
-  make install > "$TOOLS_LOG_PATH/opengv_2_build.log" 2>&1
-
-echo "  < done - `date`"
-echo
-
-echo "  > OpenSfM"
-  cd "$OPENSFM_PATH"
-
-  echo "    - configuring opensfm"
-  git checkout odm-2
-  echo "    - building opensfm"
-  CERES_ROOT_DIR=$TOOLS_PATH python setup.py build > "$TOOLS_LOG_PATH/opensfm_1_build.log" 2>&1
-
-echo "  < done - `date`"
-echo
-
-
-cd "$TOOLS_PATH"
-
-sudo install -o `id -u` -g `id -g` -m 644 -t "$LIB_PATH" lib/*.so
-sudo ldconfig -v > "$TOOLS_LOG_PATH/ldconfig.log" 2>&1
-
-sudo chown -R `id -u`:`id -g` *
-#sudo chmod -R 777 *
-#sudo chmod 700 run.pl
-echo "  - script finished - `date`"
-exit
--- a/knnMatch_exif.py
+++ b/knnMatch_exif.py
@ -1,119 +0,0 @@
-import os
-import math
-import subprocess
-
-# Purpose:
-# Preselect camera pairs for meature matching based by using GPS exif data.
-
-def preselect_pairs(utm_extractor_path, image_list, k_distance, use_knn_mode = True, verbose = False):
-
-    # Parameterss:
-    # utm_extractor_path: Path to the odm utm_extraction program that parses exif data.
-    # images_path:        Path to the folder containing the images.
-    # k_distance:         Nearest neighbor count in case of use_knn_mode = True, otherwise
-    #                     the minimum distance between cameras to be matched.
-    # use_knn_mode:       True if knn mode is used to preselect matches, False for distance thresholding.     
-
-# Temporary files
-    image_list_file = 'image_list_tmp.txt'
-    utm_coord_file = 'utm_coord_tmp.txt'
-
-# Parse the list of files with successfullt detectd points.
-    image_folder = ""
-    filenames = []
-    with open(image_list, 'r') as keypoint_file:
-        first_line = keypoint_file.readline()
-        image_folder = first_line[:first_line.rfind("/")]
-        keypoint_file.seek(0)
-        for line in keypoint_file:
-            filename = line[line.rfind("/")+1:line.rfind(".")]
-            filename += ".jpg"
-            filenames.append(filename)
-    
-    data = open(image_list_file, "w")
-    for filename in filenames:
-        data.write("%s\n" % filename)
-    data.close()
-
-
-# Define call parameters for calling the odm_extract_utm module
-    utm_cmd = ''
-    if verbose:
-        utm_cmd = [utm_extractor_path, '-verbose', '-imagesPath', image_folder, \
-                   '-imageListFile', image_list_file, '-outputCoordFile', utm_coord_file]
-    else:
-        utm_cmd = [utm_extractor_path, '-imagesPath', image_folder, '-imageListFile', \
-                   image_list_file, '-outputCoordFile', utm_coord_file]
-
-# Perform UTM extraction
-    utm_process = subprocess.Popen(utm_cmd, stdout=subprocess.PIPE, stderr=subprocess.STDOUT)
-    output, err = utm_process.communicate()
-
-# Check return code
-    if utm_process.returncode != 0:
-        print "Error when performing utm_extraction, dumping log file:"
-        print output
-        os.remove(image_list_file)
-        return []
-
-# Parse odm_extract_utm output
-    coords = []
-    with open('utm_coord_tmp.txt', 'r') as coord_file:
-    # Skip header lines
-        next(coord_file)
-        next(coord_file)
-        for line in coord_file:
-            first_space = line.find(' ')
-            second_space = first_space + line[first_space+1:].find(' ')
-            xCoord = float(line[0: first_space])
-            yCoord = float(line[first_space+1: second_space+1])
-            coords.append([xCoord, yCoord])
-
-# Calculate distances between camera pairs
-    distances = []
-    for xo,yo in coords:
-        distances.append([])
-        for xi, yi in coords: 
-            current_image = len(distances)
-            xDist = xo-xi
-            yDist = yo-yi
-            distance = math.sqrt(xDist*xDist + yDist*yDist)
-            current_image = len(distances[-1])
-            distances[-1].append([current_image, distance, False])
-        distances[-1].sort(key=lambda tup: tup[1])
-
-# Select matched pairs and make there are no doubles
-    matched_pairs = []   
-    if use_knn_mode:
-        # Make sure that image count > k
-        if len(coords) <= k_distance:
-            print "Warning, k >= image count, the result will be equivalent to exhaustive matching"
-            k_distance = len(coords)-1
-        for outer_index, sorted_list in enumerate(distances):
-            # Skip first element as distance will always be zero
-            for sorted_index in xrange(1, k_distance+1):
-                image_index, distance, dummy = distances[outer_index][sorted_index]
-                is_added = distances[outer_index][image_index][2]
-                if not is_added:
-                    matched_pairs.append([outer_index, image_index])
-                    distances[outer_index][image_index][2] = True
-                    distances[image_index][outer_index][2] = True
-    else: # Distance mode
-        for outer_index, sorted_list in enumerate(distances):
-            # Skip first element as distance will always be zero
-            for image_index, distance, dummy in sorted_list:
-                if outer_index == image_index:
-                    continue
-                if distance > k_distance:
-                    break
-                is_added = distances[outer_index][image_index][2]
-                if not is_added:
-                    matched_pairs.append([outer_index, image_index])
-                    distances[outer_index][image_index][2] = True
-                    distances[image_index][outer_index][2] = True
-
-    # Remove temporary files
-    os.remove(image_list_file)
-    os.remove(utm_coord_file)    
-    
-    return matched_pairs
--- a/modules/CMakeLists.txt
+++ b/modules/CMakeLists.txt
@ -0,0 +1,7 @@
+# Add ODM sub-modules
+add_subdirectory(odm_extract_utm)
+add_subdirectory(odm_georef)
+add_subdirectory(odm_meshing)
+add_subdirectory(odm_orthophoto)
+add_subdirectory(odm_texturing)
+
--- a/modules/odm_extract_utm/CMakeLists.txt
+++ b/modules/odm_extract_utm/CMakeLists.txt
--- a/modules/odm_extract_utm/src/Logger.cpp
+++ b/modules/odm_extract_utm/src/Logger.cpp
--- a/modules/odm_extract_utm/src/Logger.hpp
+++ b/modules/odm_extract_utm/src/Logger.hpp
--- a/modules/odm_extract_utm/src/UtmExtractor.cpp
+++ b/modules/odm_extract_utm/src/UtmExtractor.cpp
--- a/modules/odm_extract_utm/src/UtmExtractor.hpp
+++ b/modules/odm_extract_utm/src/UtmExtractor.hpp
--- a/modules/odm_extract_utm/src/main.cpp
+++ b/modules/odm_extract_utm/src/main.cpp
--- a/modules/odm_georef/CMakeLists.txt
+++ b/modules/odm_georef/CMakeLists.txt
--- a/modules/odm_georef/CMakeLists.txt.user
+++ b/modules/odm_georef/CMakeLists.txt.user
--- a/modules/odm_georef/src/FindTransform.cpp
+++ b/modules/odm_georef/src/FindTransform.cpp
--- a/modules/odm_georef/src/FindTransform.hpp
+++ b/modules/odm_georef/src/FindTransform.hpp
--- a/modules/odm_georef/src/Georef.cpp
+++ b/modules/odm_georef/src/Georef.cpp
--- a/modules/odm_georef/src/Georef.hpp
+++ b/modules/odm_georef/src/Georef.hpp
--- a/modules/odm_georef/src/Logger.cpp
+++ b/modules/odm_georef/src/Logger.cpp
--- a/modules/odm_georef/src/Logger.hpp
+++ b/modules/odm_georef/src/Logger.hpp
--- a/modules/odm_georef/src/main.cpp
+++ b/modules/odm_georef/src/main.cpp
--- a/modules/odm_georef/src/modifiedPclFunctions.cpp
+++ b/modules/odm_georef/src/modifiedPclFunctions.cpp
--- a/modules/odm_georef/src/modifiedPclFunctions.hpp
+++ b/modules/odm_georef/src/modifiedPclFunctions.hpp
--- a/modules/odm_meshing/CMakeLists.txt
+++ b/modules/odm_meshing/CMakeLists.txt
--- a/modules/odm_meshing/src/Logger.cpp
+++ b/modules/odm_meshing/src/Logger.cpp
--- a/modules/odm_meshing/src/Logger.hpp
+++ b/modules/odm_meshing/src/Logger.hpp
--- a/modules/odm_meshing/src/OdmMeshing.cpp
+++ b/modules/odm_meshing/src/OdmMeshing.cpp
--- a/modules/odm_meshing/src/OdmMeshing.hpp
+++ b/modules/odm_meshing/src/OdmMeshing.hpp
--- a/modules/odm_meshing/src/main.cpp
+++ b/modules/odm_meshing/src/main.cpp
--- a/modules/odm_orthophoto/CMakeLists.txt
+++ b/modules/odm_orthophoto/CMakeLists.txt
@ -17,7 +17,7 @@ find_package(OpenCV HINTS "${OPENCV_DIR}" REQUIRED)
 # Only link with required opencv modules.
 set(OpenCV_LIBS opencv_core opencv_imgproc opencv_highgui)

-# Add the PCL, Eigen and OpenCV include dirs. 
+# Add the PCL, Eigen and OpenCV include dirs.
 # Necessary since the PCL_INCLUDE_DIR variable set by find_package is broken.)
 include_directories(${PCL_ROOT}/include/pcl-${PCL_VERSION_MAJOR}.${PCL_VERSION_MINOR})
 include_directories(${EIGEN_ROOT})
@ -30,5 +30,4 @@ aux_source_directory("./src" SRC_LIST)

 # Add exectuteable
 add_executable(${PROJECT_NAME} ${SRC_LIST})
-target_link_libraries(odm_orthophoto ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES} ${PCL_SURFACE_LIBRARIES} ${OpenCV_LIBS})
-
+target_link_libraries(odm_orthophoto ${PCL_COMMON_LIBRARIES} ${PCL_IO_LIBRARIES} ${PCL_SURFACE_LIBRARIES} ${OpenCV_LIBS})
--- a/modules/odm_orthophoto/CMakeLists.txt.user
+++ b/modules/odm_orthophoto/CMakeLists.txt.user
--- a/modules/odm_orthophoto/src/Logger.cpp
+++ b/modules/odm_orthophoto/src/Logger.cpp
--- a/modules/odm_orthophoto/src/Logger.hpp
+++ b/modules/odm_orthophoto/src/Logger.hpp
--- a/modules/odm_orthophoto/src/OdmOrthoPhoto.cpp
+++ b/modules/odm_orthophoto/src/OdmOrthoPhoto.cpp
--- a/modules/odm_orthophoto/src/OdmOrthoPhoto.hpp
+++ b/modules/odm_orthophoto/src/OdmOrthoPhoto.hpp
--- a/modules/odm_orthophoto/src/main.cpp
+++ b/modules/odm_orthophoto/src/main.cpp
--- a/modules/odm_texturing/CMakeLists.txt
+++ b/modules/odm_texturing/CMakeLists.txt
--- a/modules/odm_texturing/CMakeLists.txt.user
+++ b/modules/odm_texturing/CMakeLists.txt.user
--- a/modules/odm_texturing/src/Logger.cpp
+++ b/modules/odm_texturing/src/Logger.cpp
--- a/modules/odm_texturing/src/Logger.hpp
+++ b/modules/odm_texturing/src/Logger.hpp
--- a/modules/odm_texturing/src/OdmTexturing.cpp
+++ b/modules/odm_texturing/src/OdmTexturing.cpp
@ -342,7 +342,7 @@ void OdmTexturing::loadCameras()
        cam.pose = transform;

        std::getline(imageListFile, dummyLine);
-        size_t firstWhitespace = dummyLine.find_first_of(" ");
+        /*size_t firstWhitespace = dummyLine.find_first_of(" ");

        if (firstWhitespace != std::string::npos)
        {
@ -351,7 +351,12 @@ void OdmTexturing::loadCameras()
        else
        {
            cam.texture_file = imagesPath_ + "/" + dummyLine.substr(2);
-        }
+        }*/
+
+        if (imagesPath_.size() == 0)
+            cam.texture_file = dummyLine;
+        else
+            cam.texture_file = imagesPath_ + "/" + dummyLine;

        // Read image to get full resolution size
        cv::Mat image = cv::imread(cam.texture_file);
--- a/modules/odm_texturing/src/OdmTexturing.hpp
+++ b/modules/odm_texturing/src/OdmTexturing.hpp
--- a/modules/odm_texturing/src/main.cpp
+++ b/modules/odm_texturing/src/main.cpp
--- a/modules/odm_texturing/src/modifiedPclFunctions.cpp
+++ b/modules/odm_texturing/src/modifiedPclFunctions.cpp
--- a/modules/odm_texturing/src/modifiedPclFunctions.hpp
+++ b/modules/odm_texturing/src/modifiedPclFunctions.hpp
--- a/opendm/init.py
+++ b/opendm/init.py
--- a/opendm/config.py
+++ b/opendm/config.py
@ -0,0 +1,220 @@
+import argparse
+
+# parse arguments
+processopts = ['resize', 'opensfm', 'cmvs', 'pmvs',
+               'odm_meshing', 'odm_texturing', 'odm_georeferencing',
+               'odm_orthophoto']
+
+parser = argparse.ArgumentParser(description='OpenDroneMap')
+parser.add_argument('--project-path', 
+                    metavar='<string>',
+                    help='Path to the project to process')
+
+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('--rerun', '-r',
+                    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('--min-num-features',
+                    metavar='<integer>',
+                    default=4000,
+                    type=int,
+                    help=('Minimum number of features to extract per image. '
+                          'More features leads to better results but slower '
+                          'execution. Default: %(default)s'))
+
+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. Default:'
+			    ' $(default)s'))
+
+parser.add_argument('--matcher-ratio',
+                    metavar='<float>',
+                    default=0.6,
+                    type=float,
+                    help=('Ratio of the distance to the next best matched '
+                            'keypoint. Default: %(default)s'))
+
+parser.add_argument('--matcher-neighbors',
+                    type=int,
+                    metavar='<integer>',
+                    default=8,
+                    help='Number of nearest images to pre-match based on GPS '
+                            'exif data. Set to 0 to skip pre-matching. '
+                            'Neighbors works together with Distance parameter, '
+                            'set both to 0 to not use pre-matching. OpenSFM '
+                            'uses both parameters at the same time, Bundler '
+                            'uses only one which has value, prefering the '
+                            'Neighbors parameter. Default: %(default)s')
+
+parser.add_argument('--matcher-distance',
+                    metavar='<integer>',
+                    default=0,
+                    type=int,
+                    help='Distance threshold in meters to find pre-matching '
+                            'images based on GPS exif data. Set to 0 to skip '
+                            'pre-matching. Default: %(default)s')
+
+parser.add_argument('--cmvs-maxImages',
+                    metavar='<integer>',
+                    default=500,
+                    type=int,
+                    help='The maximum number of images per cluster. '
+                             'Default: %(default)s')
+
+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. Default: %(default)s'))
+
+parser.add_argument('--pmvs-csize',
+                    metavar='< positive integer>',
+                    default=2,
+                    type=int,
+                    help='Cell size controls the density of reconstructions'
+                             'Default: %(default)s')
+
+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 associated photometric consistency '
+                            'measure is above this threshold. Default: %(default)s'))
+
+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. Default: %(default)s')
+
+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. Default: %(default)s'))
+
+parser.add_argument('--pmvs-num-cores',
+                    metavar='<positive integer>',
+                    default=1,
+                    type=int,
+                    help=('The maximum number of cores to use in dense '
+                            'reconstruction. Default: %(default)s'))
+
+parser.add_argument('--odm_meshing-maxVertexCount',
+                    metavar='<positive integer>',
+                    default=100000,
+                    type=int,
+                    help=('The maximum vertex count of the output mesh '
+                            'Default: %(default)s'))
+
+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. Default: %(default)s'))
+
+parser.add_argument('--odm_meshing-samplesPerNode',
+                    metavar='<float >= 1.0>',
+                    default=1.0,
+                    type=float,
+                    help=('Number of points per octree node, recommended '
+                            'and default value: %(default)s'))
+
+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. '
+                            'Default: %(default)s'))
+
+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. Default: %(default)s'))
+
+parser.add_argument('--odm_texturing-textureWithSize',
+                    metavar='<positive integer>',
+                    default=3600,
+                    type=int,
+                    help=('The resolution to rescale the images performing '
+                            'the texturing. Default: %(default)s'))
+
+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.  Default: '
+                            '%(default)s. The file needs to '
+                            'be on the following line format: \neasting '
+                            'northing height pixelrow pixelcol imagename'))
+
+parser.add_argument('--odm_georeferencing-useGcp',
+                    action = 'store_true',
+                    default = False,
+                    help = 'Enabling GCPs from the file above. The GCP file '
+                             'is not used by default.')
+
+parser.add_argument('--odm_orthophoto-resolution',
+                    metavar='<float > 0.0>',
+                    default=20.0,
+                    type=float,
+                    help=('Orthophoto ground resolution in pixels/meter'
+                             'Default: %(default)s'))
+
+parser.add_argument('--zip-results',
+                    action='store_true',
+                    default=False,
+                    help='compress the results using gunzip')
+
+args = vars(parser.parse_args())
--- a/opendm/context.py
+++ b/opendm/context.py
@ -0,0 +1,34 @@
+import os
+import sys
+import multiprocessing
+
+# Define some needed locations
+scripts_path = os.path.abspath(os.path.dirname(__file__))
+root_path, _ = os.path.split(scripts_path)
+
+superbuild_path = os.path.join(root_path, 'SuperBuild')
+ccd_widths_path = os.path.join(root_path, 'data/ccd_defs.json')
+
+# add opencv to python path
+pyopencv_path = os.path.join(superbuild_path, 'install/lib/python2.7/dist-packages')
+sys.path.append(pyopencv_path)
+
+# define opensfm path
+opensfm_path = os.path.join(superbuild_path, "src/opensfm")
+
+# define pmvs path
+cmvs_path = os.path.join(superbuild_path, "install/bin/cmvs")
+cmvs_opts_path = os.path.join(superbuild_path, "install/bin/genOption")
+pmvs2_path = os.path.join(superbuild_path, "install/bin/pmvs2")
+
+# define txt2las path
+txt2las_path = os.path.join(superbuild_path, 'src/las-tools/bin')
+
+# define odm modules path
+odm_modules_path = os.path.join(root_path, "build/bin")
+
+# Define supported image extensions
+supported_extensions = {'.jpg','.jpeg','.png'}
+
+# Define the number of cores 
+num_cores = multiprocessing.cpu_count()
--- a/opendm/io.py
+++ b/opendm/io.py
@ -0,0 +1,25 @@
+import os
+
+def get_files_list(path_dir):
+    return os.listdir(path_dir)
+
+def absolute_path_file(path_file):
+    return os.path.abspath(path_file)
+
+def extract_file_from_path_file(path_file):
+    path, file = os.path.split(path_file)
+    return file
+
+def extract_path_from_file(file):
+    path_file = os.path.abspath(os.path.dirname(file))
+    path, file = os.path.split(path_file)
+    return path
+
+def join_paths(path1, path2):
+    return os.path.join(path1, path2)
+
+def file_exists(path_file):
+	return os.path.isfile(path_file)
+
+def dir_exists(dirname):
+	return os.path.isdir(dirname)
--- a/opendm/log.py
+++ b/opendm/log.py
@ -0,0 +1,18 @@
+HEADER = '\033[95m'
+OKBLUE = '\033[94m'
+OKGREEN = '\033[92m'
+WARNING = '\033[93m'
+FAIL = '\033[91m'
+ENDC = '\033[0m'
+
+def ODM_INFO(str):
+	print OKBLUE + '[INFO] ' + str + ENDC
+
+def ODM_WARNING(str):
+	print WARNING + '[WARNING] ' + str + ENDC
+
+def ODM_ERROR(str):
+	print FAIL + '[ERROR] ' + str + ENDC
+	
+def ODM_DEBUG(str):
+	print OKGREEN + '[DEBUG] ' + str + ENDC
--- a/opendm/system.py
+++ b/opendm/system.py
@ -0,0 +1,75 @@
+import os
+import errno
+import json
+import datetime
+import sys
+import subprocess
+
+from opendm import context
+from opendm import log
+
+def get_ccd_widths():
+    """Return the CCD Width of the camera listed in the JSON defs file."""
+    with open(context.ccd_widths_path) as jsonFile:
+        return json.load(jsonFile)
+
+def run(cmd):
+    """Run a system command"""
+    log.ODM_DEBUG('running %s' % cmd)
+    returnCode = os.system(cmd)
+
+    if (returnCode != 0):
+        # TODO(edgar): add as log.ODM_ERROR
+        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=None):
+    """Run a system command and return the output"""
+    process = subprocess.Popen(cmdSrc, stdout=subprocess.PIPE, shell=True)
+    stdout, stderr = process.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
--- a/opendm/tasks.py
+++ b/opendm/tasks.py
@ -0,0 +1,150 @@
+import log
+import system
+
+import dataset
+import types
+
+from scripts.resize import resize
+from scripts.opensfm import opensfm
+
+# Define pipeline tasks
+tasks_dict = { '1': 'resize',
+               '2': 'opensfm',
+               '3': 'cmvs',
+               '4': 'pmvs',
+               '5': 'odm_meshing',
+               '6': 'odm_texturing',
+               '7': 'odm_georeferencing',
+               '8': 'odm_orthophoto', 
+               '9': 'zip_results' }
+
+
+class ODMTaskManager(object):
+	"""docstring for ODMTaskManager"""
+	def __init__(self, odm_app):
+		self.odm_app = odm_app
+		self.initial_task_id = 0
+		self.current_task_id = 0
+		self.final_task_id = len(tasks_dict)
+		self.tasks = self.init_tasks(tasks_dict, self.odm_app)
+
+	def init_tasks(self, _tasks_dict, _odm_app):
+		# dict to store tasks objects
+		tasks = {}
+		# loop over tasks dict
+		for key, in _tasks_dict:
+			# instantiate and append ODMTask
+			task_name = _tasks_dict[key]
+			tasks[key] = ODMTask(key, task_name)
+
+			# setup tasks
+			if task_name == 'resize':
+				# setup this task
+				command = resize
+				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 = { 'project_path': _odm_app.project_path,
+						   'args': _odm_app.args,
+				           'photos': _odm_app.photos }
+
+			elif task_name == 'cmvs':
+				# setup this task
+				command = None
+				inputs = {}
+
+			elif task_name == 'pmvs':
+				# setup this task
+				command = None
+				inputs = {}
+
+			elif task_name == 'odm_meshing':
+				# setup this task
+				command = None
+				inputs = {}
+
+			elif task_name == 'odm_texturing':
+				# setup this task
+				command = None
+				inputs = {}
+
+			elif task_name == 'odm_georeferencing':
+				# setup this task
+				command = None
+				inputs = {}
+
+			elif task_name == 'odm_orthophoto':
+				# setup this task
+				command = None
+				inputs = {}
+
+			elif task_name == 'zip_results':
+				# setup this task
+				command = None
+				inputs = {}
+
+			else:
+				log.ODM_ERROR('task_name %s is not valid' % task_name)
+
+			# setup task configuration
+			task = tasks[key]
+			task.command = command
+			task.inputs = inputs
+
+		return tasks
+
+	def run_tasks(self):
+
+		#curr_task = self.tasks['resize']
+
+		#self.tasks['resize']
+
+		for id in range(self.initial_task_id, self.final_task_id + 1):
+			# catch task with current id
+			task = self.tasks[str(id)]
+			# update task tracking
+			log.ODM_INFO('Running task %s: %s' % (task.id, task.name))
+			self.current_task_id = task.id
+			# run task
+			task.state = task.run()
+			if task.state == 2:
+				log.ODM_INFO('Succeeded task %s: %s - %s' % (task.id, task.name, system.now()))
+			else:
+				log.ODM_ERROR('Aborted task %s: %s' % (task.id, task.name))
+
+
+
+class ODMTask(object):
+	"""docstring for ODMTask"""
+	def __init__(self, id, name):
+		# task definition
+		self.id = id
+		self.name = name
+		# task i/o
+		self.command = None
+		self.inputs = {}
+		# Current task state (0:waiting, 1:running, 2:succeded: 3:failed)
+		# By default we set a task in waiting state
+		self.state = 0
+
+	# Launch task
+	def run(self):
+		# while doing something
+		self.state = 1
+		return self.launch_command()
+
+	def launch_command(self):
+		if self.command is None:
+			log.ODM_ERROR('Call method for task %s not defined' % self.name)
+			return 3 # failed
+		# run conmmand
+		try:
+			succeed = self.command(**self.inputs)
+			return 2 if succeed else 3 # 2:succeed, 3:failed
+		except Exception, e:
+			log.ODM_ERROR(str(e))
+			return 3 # failed
--- a/opendm/types.py
+++ b/opendm/types.py
@ -0,0 +1,339 @@
+import os
+import cv2
+import pyexiv2
+import subprocess
+import re
+from fractions import Fraction
+
+import log
+import io
+import system
+import context
+
+class ODM_Photo:
+    """   ODMPhoto - a class for ODMPhotos
+    """
+    def __init__(self, path_file, force_focal, force_ccd):
+        #  general purpose
+        self.path_file = path_file
+        self.filename = io.extract_file_from_path_file(path_file)
+        # useful attibutes
+        self.width = None
+        self.height = None
+        self.ccd_width = None
+        self.focal_length = None
+        self.focal_length_px = None
+        # other attributes
+        self.camera_make = None
+        self.camera_model = None
+        # parse values from metadata
+        self.parse_pyexiv2_values(self.path_file, force_focal, force_ccd)
+        # compute focal lenght into pixels
+        self.update_focal()
+
+        # print log message
+        log.ODM_DEBUG('Loaded %s | dimensions: %s x %s | focal: %s | ccd: %s' % \
+            (self.filename, self.width, self.height, self.focal_length, self.ccd_width))
+
+    def update_focal(self):
+        # compute focal length in pixels
+        if self.focal_length and self.ccd_width:
+            # take width or height as reference
+            if self.width > self.height:
+                # f(px) = w(px) * f(mm) / ccd(mm)
+                self.focal_length_px = \
+                    self.width * (self.focal_length / self.ccd_width)
+            else:
+                # f(px) = h(px) * f(mm) / ccd(mm)
+                self.focal_length_px = \
+                    self.height * (self.focal_length / self.ccd_width)
+
+    def parse_pyexiv2_values(self, _path_file, _force_focal, _force_ccd):
+        # read image metadata
+        metadata = pyexiv2.ImageMetadata(_path_file)
+        metadata.read()
+        # loop over image tags
+        for key in metadata:
+            # try/catch tag value due to weird bug in pyexiv2 
+            # ValueError: invalid literal for int() with base 10: ''
+            try:
+                val = metadata[key].value
+                # parse tag names
+                if key == 'Exif.Image.Make':  self.camera_make = val
+                elif key == 'Exif.Image.Model': self.camera_model = val
+                elif key == 'Exif.Photo.FocalLength': self.focal_length = float(val)
+            except Exception, e:
+                pass
+ 
+        # needed to do that since sometimes metadata contains wrong data
+        img = cv2.imread(_path_file)
+        self.width = img.shape[1]
+        self.height = img.shape[0]
+
+        # force focal and ccd_width with user parameter
+        if _force_focal: self.focal_length = _force_focal
+        if _force_ccd: self.ccd_width = _force_ccd
+
+        # find ccd_width from file if needed
+        if self.ccd_width is None and self.camera_model is not None:
+            # load ccd_widths from file
+            ccd_widths = system.get_ccd_widths()
+            # search ccd by camera model
+            key = [x for x in ccd_widths.keys() if self.camera_model in x]
+            # convert to float if found
+            if key: self.ccd_width = float(ccd_widths[key[0]])
+            # else:
+            # log.ODM_ERROR('Could not find ccd_width in file')
+
+
+# TODO: finish this class
+class ODM_Reconstruction(object):
+    """docstring for ODMReconstruction"""
+    def __init__(self, arg):
+        super(ODMReconstruction, self).__init__()
+        self.arg = arg
+
+
+class ODM_GCPoint(object):
+    """docstring for ODMPoint"""
+    def __init__(self, x, y, z):
+        self.x = x
+        self.y = y
+        self.z = z
+
+
+class ODM_GeoRef(object):
+    """docstring for ODMUtmZone"""
+    def __init__(self):
+        self.datum = 'WGS84'
+        self.epsg = None
+        self.utm_zone = 0
+        self.utm_pole = 'N'
+        self.utm_east_offset = 0
+        self.utm_north_offset = 0
+        self.gcps = []
+
+    def calculate_EPSG(self, _utm_zone, _pole):
+        """Calculate and return the EPSG"""
+        if _pole == 'S':
+            return 32700 + _utm_zone
+        elif _pole == 'N':
+            return 32600 + _utm_zone
+        else:
+            log.ODM_ERROR('Unknown pole format %s' % _pole)
+            return
+
+
+    def convert_to_las(self, _file):
+
+        if not self.epsg:
+            log.ODM_ERROR('Empty EPSG: Could not convert to LAS')
+            return
+
+        kwargs = { 'bin': context.txt2las_path,
+                   'f_in': _file,
+                   'f_out': _file + '.laz',
+                   'east': self.utm_east_offset,
+                   'north': self.utm_north_offset,
+                   'epsg': self.epsg }
+
+        # call txt2las
+        system.run('{bin}/txt2las -i {f_in} -o {f_out} -skip 30 -parse xyzRGBssss ' \
+                   '-set_scale 0.01 0.01 0.01 -set_offset {east} {north} 0 '  \
+                   '-translate_xyz 0 -epsg {epsg}'.format(**kwargs))
+
+
+    def utm_to_latlon(self, _file, _photo, idx):
+
+        gcp = self.gcps[idx]
+
+        kwargs = { 'datum': self.datum,
+                   'zone': self.utm_zone,
+                   'file': _file,
+                   'x': gcp.x + self.utm_east_offset,
+                   'y': gcp.y + self.utm_north_offset,
+                   'z': gcp.z }
+
+        latlon = system.run_and_return('echo {x} {y} | cs2cs +proj=utm ' \
+            '+datum={datum} +ellps={datum} +zone={zone} +units=m +to '   \
+            '+proj=latlon +ellps={datum}'.format(**kwargs)).split()
+
+        # Example: 83d18'16.285"W
+        # Example: 41d2'11.789"N
+        # Example: 0.998
+
+        if len(latlon) == 3:
+            lon_str, lat_str, alt_str = latlon
+        elif len(latlon) == 2:
+            lon_str, lat_str = latlon
+            alt_str = ''
+        else:
+            log.ODM_ERROR('Something went wrong %s' % latlon)
+        
+        tokens = re.split("[d '\"]+", lon_str)
+        if len(tokens) >= 4:
+            lon_deg, lon_min, lon_sec = tokens[:3]
+            lon_sec_frac = Fraction(lon_sec)
+            lon_sec_numerator = str(lon_sec_frac._numerator)
+            lon_sec_denominator = str(lon_sec_frac._denominator)
+            lon_ref = tokens[3]
+
+            tokens = re.split("[d '\"]+", lat_str)
+            if len(tokens) >= 4:
+                lat_deg, lat_min, lat_sec = tokens[:3]
+                lat_sec_frac = Fraction(lat_sec)
+                lat_sec_numerator = str(lat_sec_frac._numerator)
+                lat_sec_denominator = str(lat_sec_frac._denominator)
+                lat_ref = tokens[3]
+
+                alt_numerator = arc_denominator = 0  # BUG: arc_denominator is never used
+
+                if alt_str:
+                    alt_frac = Fraction(alt_str)
+                    alt_numerator = alt_frac._numerator
+                    alt_denominator = alt_frac._denominator
+
+        # read image metadata
+        metadata = pyexiv2.ImageMetadata(_photo.path_file)
+        metadata.read()
+
+        ## set values
+
+        # GPS latitude
+        key = 'Exif.GPSInfo.GPSLatitude'
+        value = [Fraction(int(lat_deg), 1), Fraction(int(lat_min), 1), \
+                 Fraction(int(lat_sec_numerator), int(lat_sec_denominator))]
+        metadata[key] = pyexiv2.ExifTag(key, value)
+
+        key = 'Exif.GPSInfo.GPSLatitudeRef'
+        value = '%s' % lat_ref
+        metadata[key] = pyexiv2.ExifTag(key, value)
+
+        # GPS longitude
+        key = 'Exif.GPSInfo.GPSLongitude'
+        value = [Fraction(int(lon_deg), 1), Fraction(int(lon_min), 1), \
+                 Fraction(int(lon_sec_numerator), int(lon_sec_denominator))]
+        metadata[key] = pyexiv2.ExifTag(key, value)
+
+        key = 'Exif.GPSInfo.GPSLongitudeRef'
+        value = '%s' % lon_ref
+        metadata[key] = pyexiv2.ExifTag(key, value)
+
+        # GPS altitude
+        key = 'Exif.GPSInfo.GPSAltitude'
+        value = Fraction(int(gcp.z), 1)
+        metadata[key] = pyexiv2.ExifTag(key, value)
+
+        key = 'Exif.GPSInfo.GPSAltitudeRef'
+        metadata[key] = pyexiv2.ExifTag(key, '0')
+
+        ## write values
+        metadata.write()
+
+
+    def parse_coordinate_system(self, _file):
+        """Write attributes to jobOptions from coord file"""
+        # check for coordinate file existence
+        if not io.file_exists(_file):
+            log.ODM_ERROR('Could not find file %s' % _coords_file)
+            return
+
+        with open(_file) as f:
+            # extract reference system and utm zone from first line.
+            # We will assume the following format:
+            # 'WGS84 UTM 17N'
+            line = f.readline().split(' ')
+            self.datum = line[0]
+            self.utm_pole = line[2][len(line)-1]
+            self.utm_zone = int(line[2][:len(line)-1])
+            # extract east and west offsets from second line.
+            # We will assume the following format:
+            # '440143 4588391'
+            line = f.readline().split(' ')
+            self.utm_east_offset = int(line[0])
+            self.utm_north_offset = int(line[1])
+            # parse coordinates
+            lines = f.readlines()
+            for l in lines:
+                x, y, z = l.split(' ')[:3]
+                self.gcps.append(ODM_GCPoint(float(x), float(y), float(z)))
+
+        # update EPSG
+        self.epsg = self.calculate_EPSG(self.utm_zone, self.utm_pole)
+
+class ODM_Tree(object):
+    def __init__(self, root_path):
+        ### root path to the project
+        self.root_path = io.absolute_path_file(root_path)
+
+        ### modules paths
+
+        # here are defined where all modules should be located in
+        # order to keep track all files al directories during the
+        # whole reconstruction process.
+        self.dataset_raw = io.join_paths(self.root_path, 'images')
+        self.dataset_resize = io.join_paths(self.root_path, 'images_resize')
+        self.opensfm = io.join_paths(self.root_path, 'opensfm')
+        self.pmvs = io.join_paths(self.root_path, 'pmvs')
+        self.odm_meshing = io.join_paths(self.root_path, 'odm_meshing')
+        self.odm_texturing = io.join_paths(self.root_path, 'odm_texturing')
+        self.odm_georeferencing = io.join_paths(self.root_path, 'odm_georeferencing')
+        self.odm_orthophoto = io.join_paths(self.root_path, 'odm_orthophoto')
+
+        ### important files paths
+        
+        # opensfm
+        self.opensfm_bundle = io.join_paths(self.opensfm, 'bundle_r000.out')
+        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')
+
+        # pmvs
+        self.pmvs_rec_path = io.join_paths(self.pmvs, 'recon0')
+        self.pmvs_bundle = io.join_paths(self.pmvs_rec_path, 'bundle.rd.out')
+        self.pmvs_visdat = io.join_paths(self.pmvs_rec_path, 'vis.dat')
+        self.pmvs_options = io.join_paths(self.pmvs_rec_path, 'pmvs_options.txt')
+        self.pmvs_model = io.join_paths(self.pmvs_rec_path, 'models/option-0000.ply')
+        
+        # odm_meshing
+        self.odm_mesh = io.join_paths(self.odm_meshing, 'odm_mesh.ply')
+        self.odm_meshing_log = io.join_paths(self.odm_meshing, 'odm_meshing_log.txt')
+        
+        # odm_texturing
+        self.odm_textured_model_obj = io.join_paths(
+            self.odm_texturing, 'odm_textured_model.obj')
+        self.odm_textured_model_mtl = io.join_paths(
+            self.odm_texturing, 'odm_textured_model.mtl')
+        self.odm_textured_model_txt_geo = io.join_paths(
+            self.odm_texturing, 'odm_textured_model_geo.txt')
+        self.odm_textured_model_ply_geo = io.join_paths(
+            self.odm_texturing, 'odm_textured_model_geo.ply')
+        self.odm_textured_model_obj_geo = io.join_paths(
+            self.odm_texturing, 'odm_textured_model_geo.obj')
+        self.odm_textured_model_mtl_geo = io.join_paths(
+            self.odm_texturing, 'odm_textured_model_geo.mtl')
+        self.odm_texuring_log = io.join_paths(
+            self.odm_texturing, 'odm_texturing_log.txt')
+
+        # odm_georeferencing
+        self.odm_georeferencing_latlon = io.join_paths(
+            self.odm_georeferencing, 'latlon.txt')
+        self.odm_georeferencing_coords = io.join_paths(
+            self.odm_georeferencing, 'coords.txt')
+        self.odm_georeferencing_gcp = io.join_paths(
+            self.odm_georeferencing, 'gcp_list.txt')
+        self.odm_georeferencing_utm_log = io.join_paths(
+            self.odm_georeferencing, 'odm_georeferencing_utm_log.txt')
+        self.odm_georeferencing_log = io.join_paths(
+            self.odm_georeferencing, 'odm_georeferencing_log.txt')
+
+        # odm_orthophoto
+        self.odm_orthophoto_file = io.join_paths(self.odm_orthophoto, 'odm_orthophoto.png')
+        self.odm_orthophoto_corners = io.join_paths(self.odm_orthophoto, 'odm_orthphoto_corners.txt')
+        self.odm_orthophoto_log = io.join_paths(self.odm_orthophoto, 'odm_orthophoto_log.txt')
+
+
+
+
+
+        
--- a/run.py
+++ b/run.py
--- a/scripts/init.py
+++ b/scripts/init.py
--- a/scripts/cmvs.py
+++ b/scripts/cmvs.py
@ -0,0 +1,56 @@
+import ecto
+
+from opendm import io
+from opendm import log
+from opendm import system
+from opendm import context
+
+class ODMCmvsCell(ecto.Cell):
+
+    def declare_params(self, params):
+        params.declare("max_images", 'The maximum number of images '
+                                     'per cluster', 500)
+        params.declare("cores", 'The maximum number of cores to use '
+                                'in dense reconstruction.', context.num_cores)
+
+    def declare_io(self, params, inputs, outputs):
+        inputs.declare("tree", "Struct with paths", [])
+        inputs.declare("args", "Struct with paths", [])
+        inputs.declare("reconstruction", "list of ODMReconstructions", [])
+        outputs.declare("reconstruction", "list of ODMReconstructions", [])
+
+    def process(self, inputs, outputs):
+        
+        log.ODM_INFO('Running OMD CMVS Cell')
+
+        # get inputs 
+        args = self.inputs.args
+        tree = self.inputs.tree
+
+        # check if we rerun cell or not
+        rerun_cell = args['rerun'] is not None \
+            and args['rerun'] == 'cmvs'
+
+        if not io.file_exists(tree.pmvs_bundle) or rerun_cell:
+            log.ODM_DEBUG('Writting CMVS vis in: %s' % tree.pmvs_bundle)
+
+            # copy bundle file to pmvs dir
+            from shutil import copyfile
+            copyfile(tree.opensfm_bundle, 
+                     tree.pmvs_bundle)
+
+            kwargs = {
+                'bin': context.cmvs_path,
+                'prefix': self.inputs.tree.pmvs_rec_path,
+                'max_images': self.params.max_images,
+                'cores': self.params.cores
+            }
+
+            # run cmvs
+            system.run('{bin} {prefix}/ {max_images} {cores}'.format(**kwargs))
+        else:
+            log.ODM_WARNING('Found a valid CMVS file in: %s' % 
+                (tree.pmvs_bundle))
+
+        log.ODM_INFO('Running OMD CMVS Cell - Finished')
+        return ecto.OK if args['end_with'] != 'cmvs' else ecto.QUIT
--- a/scripts/dataset.py
+++ b/scripts/dataset.py
@ -0,0 +1,68 @@
+import os
+import ecto
+
+from opendm import context
+from opendm import io
+from opendm import types
+from opendm import log
+
+class ODMLoadDatasetCell(ecto.Cell):
+
+    def declare_params(self, params):
+        params.declare("force_focal", 'Override the focal length information for the '
+                            'images', None)
+        params.declare("force_ccd", 'Override the ccd widht information for the '
+                            'images', None)
+
+    def declare_io(self, params, inputs, outputs):
+        inputs.declare("tree", "Struct with paths", [])
+        outputs.declare("photos", "list of ODMPhoto's", [])
+
+    def process(self, inputs, outputs):
+        # 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_INFO('Running ODM Load Dataset Cell')
+
+        # get inputs
+        tree = self.inputs.tree
+
+        # set images directory
+        images_dir = tree.dataset_resize
+
+        if not io.dir_exists(images_dir):
+            images_dir = tree.dataset_raw
+            if not io.dir_exists(images_dir):
+                log.ODM_ERROR("You must put your pictures into an <images> directory")
+                return ecto.QUIT
+
+        log.ODM_DEBUG('Loading dataset from: %s' % images_dir)
+
+        # find files in the given directory
+        files = io.get_files_list(images_dir)
+
+        # filter images for its extension type
+        files = [f for f in files if supported_extension(f)]
+
+        if files:
+            # create ODMPhoto list
+            photos = []
+            for f in files:
+                path_file = io.join_paths(images_dir, f)
+                photo = types.ODM_Photo(path_file,
+                                        self.params.force_focal,
+                                        self.params.force_ccd)
+                photos.append(photo)
+            
+            log.ODM_INFO('Found %s usable images' % len(photos))            
+        else:
+            log.ODM_ERROR('Not enough supported images in %s' % images_dir)
+            return ecto.QUIT
+
+        # append photos to cell output
+        outputs.photos = photos
+
+        log.ODM_INFO('Running ODM Load Dataset Cell - Finished')
+        return ecto.OK
--- a/scripts/example_ecto_python.py
+++ b/scripts/example_ecto_python.py
@ -0,0 +1,35 @@
+import ecto
+import numpy as np
+class ClusterDetector(ecto.Cell):
+    def declare_params(self, params):
+        params.declare("n", "Max number of clusters.", 10)
+
+    def declare_io(self, params, inputs, outputs):
+        outputs.declare("clusters", "Clusters output. list of tuples", [])
+
+    def process(self, inputs, outputs):
+        clusters = []
+        for i in range(int(np.random.uniform(0, self.params.n))):
+            clusters.append( (i, 'c%d'%i) )
+        outputs.clusters = clusters
+
+class ClusterPrinter(ecto.Cell):
+    def declare_io(self, params, inputs, outputs):
+        inputs.declare("clusters", "Clusters input")
+
+    def process(self, inputs, outputs):
+        print "Clusters: ",
+        for c in inputs.clusters:
+            print c,
+        print "\n"
+
+def app():
+    cd = ClusterDetector(n=20)
+    cp = ClusterPrinter()
+    plasm = ecto.Plasm()
+    plasm.connect(cd['clusters'] >> cp['clusters'])
+    sched = ecto.Scheduler(plasm)
+    sched.execute(niter=3)
+
+if __name__ == "__main__":
+    app()
--- a/scripts/odm_app.py
+++ b/scripts/odm_app.py
@ -0,0 +1,122 @@
+import ecto
+
+from opendm import context
+from opendm import types
+from opendm import config
+
+from dataset import ODMLoadDatasetCell
+from resize import ODMResizeCell
+from opensfm import ODMOpenSfMCell
+from pmvs import ODMPmvsCell
+from cmvs import ODMCmvsCell
+from odm_meshing import ODMeshingCell
+from odm_texturing import ODMTexturingCell
+from odm_georeferencing import ODMGeoreferencingCell
+from odm_orthophoto import ODMOrthoPhotoCell
+
+class ODMApp(ecto.BlackBox):
+    '''   ODMApp - a class for ODM Activities
+    '''
+    def __init__(self, *args, **kwargs):
+        ecto.BlackBox.__init__(self, *args, **kwargs)
+
+    @staticmethod
+    def declare_direct_params(p):
+        p.declare("args", "The application arguments.", {})
+
+    @staticmethod
+    def declare_cells(p):
+        """
+        Implement the virtual function from the base class
+        Only cells from which something is forwarded have to be declared
+        """
+        cells = { 'args': ecto.Constant(value=p.args),
+                  'dataset': ODMLoadDatasetCell(force_focal=p.args['force_focal'],
+                                                force_ccd=p.args['force_ccd']),
+                  'resize': ODMResizeCell(resize_to=p.args['resize_to']),
+                  'opensfm': ODMOpenSfMCell(use_exif_size=False,
+                                            feature_process_size=p.args['resize_to'],
+                                            feature_min_frames=p.args['min_num_features'],
+                                            processes=context.num_cores,
+                                            matching_gps_neighbors=p.args['matcher_neighbors'],
+                                            matching_gps_distance=p.args['matcher_distance']),
+                  'cmvs': ODMCmvsCell(max_images=p.args['cmvs_maxImages']),
+                  'pmvs': ODMPmvsCell(level=p.args['pmvs_level'],
+                                      csize=p.args['pmvs_csize'],
+                                      thresh=p.args['pmvs_threshold'],
+                                      wsize=p.args['pmvs_wsize'],
+                                      min_imgs=p.args['pmvs_minImageNum'],
+                                      cores=p.args['pmvs_num_cores']),
+                  'meshing': ODMeshingCell(max_vertex=p.args['odm_meshing_maxVertexCount'],
+                                           oct_tree=p.args['odm_meshing_octreeDepth'],
+                                           samples=p.args['odm_meshing_samplesPerNode'],
+                                           solver=p.args['odm_meshing_solverDivide']),
+                  'texturing': ODMTexturingCell(resize=p.args['resize_to'],
+                                                resolution=p.args['odm_texturing_textureResolution'],
+                                                size=p.args['odm_texturing_textureWithSize']),
+                  'georeferencing': ODMGeoreferencingCell(img_size=p.args['resize_to'],
+                                                          gcp_file=p.args['odm_georeferencing_gcpFile'],
+                                                          use_gcp=p.args['odm_georeferencing_useGcp']),
+                  'orthophoto': ODMOrthoPhotoCell(resolution=p.args['odm_orthophoto_resolution'])
+
+        }
+
+        return cells    
+
+    def configure(self, p, _i, _o):
+        tree = types.ODM_Tree(p.args['project_path'])
+        self.tree = ecto.Constant(value=tree)
+
+    def connections(self, _p):
+        # define initial task
+        initial_task = _p.args['start_with']
+        initial_task_id = config.processopts.index(initial_task)
+
+        ## define the connections like you would for the plasm
+        connections = []
+
+        ## load the dataset
+        connections = [ self.tree[:] >> self.dataset['tree'] ]
+
+        # run resize cell
+        connections += [ self.tree[:] >> self.resize['tree'],
+                         self.args[:] >> self.resize['args'],
+                         self.dataset['photos'] >> self.resize['photos'] ]
+
+        # run opensfm with images from load dataset
+        connections += [ self.tree[:] >> self.opensfm['tree'],
+                         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'] ]
+  
+        # 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 texture
+        connections += [ self.tree[:] >> self.texturing['tree'],
+                         self.args[:] >> self.texturing['args'],
+                         self.meshing['reconstruction'] >> self.texturing['reconstruction'] ]
+    
+        # create odm georeference
+        connections += [ self.tree[:] >> self.georeferencing['tree'],
+                         self.args[:] >> self.georeferencing['args'],
+                         self.dataset['photos'] >> self.georeferencing['photos'],
+                         self.texturing['reconstruction'] >> self.georeferencing['reconstruction'] ]
+
+         ## create odm orthophoto
+        connections += [ self.tree[:] >> self.orthophoto['tree'],
+                         self.args[:] >> self.orthophoto['args'],
+                         self.georeferencing['reconstruction'] >> self.orthophoto['reconstruction'] ]
+
+        return connections
--- a/scripts/odm_georeferencing.py
+++ b/scripts/odm_georeferencing.py
@ -0,0 +1,266 @@
+import ecto
+
+from opendm import io
+from opendm import log
+from opendm import types
+from opendm import system
+from opendm import context
+
+class ODMGeoreferencingCell(ecto.Cell):
+    def declare_params(self, params):
+        params.declare("gcp_file", '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', 'gcp_list.txt')
+        params.declare("use_gcp", 'set to true for enabling GCPs from the file above', False)
+        params.declare("img_size", 'image size used in calibration', 2400)
+
+    def declare_io(self, params, inputs, outputs):
+        inputs.declare("tree", "Struct with paths", [])
+        inputs.declare("args", "The application arguments.", {})
+        inputs.declare("photos", "list of ODMPhoto's", [])
+        inputs.declare("reconstruction", "list of ODMReconstructions", [])
+        outputs.declare("reconstruction", "list of ODMReconstructions", [])
+
+    def process(self, inputs, outputs):
+
+        log.ODM_INFO('Running OMD Georeferencing Cell')
+
+        # get inputs
+        args = self.inputs.args
+        tree = self.inputs.tree
+
+        # define paths and create working directories
+        system.mkdir_p(tree.odm_georeferencing)
+
+        # in case a gcp file it's not provided, let's try to generate it using
+        # images metadata. Internally calls jhead.
+        if not self.params.use_gcp and \
+           not io.file_exists(tree.odm_georeferencing_coords):
+            
+            log.ODM_WARNING('Warning: No coordinates file. ' \
+                'Generating coordinates file in: %s' % tree.odm_georeferencing_coords)
+            try:
+                # odm_georeference definitions
+                kwargs = {
+                    'bin': context.odm_modules_path,
+                    'imgs': tree.dataset_resize,
+                    'imgs_list': tree.opensfm_bundle_list,
+                    'coords': tree.odm_georeferencing_coords,
+                    'log': tree.odm_georeferencing_utm_log
+                }
+
+                # run UTM extraction binary
+                system.run('{bin}/odm_extract_utm -imagesPath {imgs}/ '      \
+                    '-imageListFile {imgs_list} -outputCoordFile {coords} '  \
+                    '-logFile {log}'.format(**kwargs))
+
+            except Exception, e:
+                log.ODM_ERROR('Could not generate GCP file from images metadata.'  \
+                    'Consider rerunning with argument --odm_georeferencing-useGcp' \
+                    ' and provide a proper GCP file')
+                log.ODM_ERROR(e)
+                return ecto.QUIT
+
+        # check if we rerun cell or not
+        rerun_cell = args['rerun'] is not None \
+            and args['rerun'] == 'odm_georeferencing'
+
+        if not io.file_exists(tree.odm_textured_model_obj_geo) or \
+           not io.file_exists(tree.odm_textured_model_ply_geo) or rerun_cell:
+
+            # odm_georeference definitions
+            kwargs = {
+                'bin': context.odm_modules_path,
+                'bundle': tree.opensfm_bundle,
+                '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_textured_model_ply_geo,
+                'geo_sys': tree.odm_textured_model_txt_geo,
+                'model_geo': tree.odm_textured_model_obj_geo,
+                'size': self.params.img_size,
+                'gcp': io.join_paths(tree.root_path, self.params.gcp_file),
+
+            }
+
+            if self.params.use_gcp and \
+               io.file_exists(tree.odm_georeferencing_coords):
+
+                system.run('{bin}/odm_georef -bundleFile {bundle} -inputCoordFile {coords} ' \
+                    '-bundleResizedTo {size} -inputFile {model} -outputFile {model_geo} '    \
+                    '-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} '              \
+                    '-logFile {log} -georefFileOutputPath {geo_sys} -gcpFile {gcp} '         \
+                    '-outputCoordFile {coords}'.format(**kwargs))
+            else:
+                system.run('{bin}/odm_georef -bundleFile {bundle} -inputCoordFile {coords} ' \
+                    '-inputFile {model} -outputFile {model_geo} '                            \
+                    '-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} '              \
+                    '-logFile {log} -georefFileOutputPath {geo_sys}'.format(**kwargs))
+
+        else:
+            log.ODM_WARNING('Found a valid georeferenced model in: %s' \
+                % tree.odm_textured_model_ply_geo)
+
+
+        # update images metadata
+        geo_ref = types.ODM_GeoRef()
+        geo_ref.parse_coordinate_system(tree.odm_georeferencing_coords)
+
+        for idx, photo in enumerate(self.inputs.photos):
+            geo_ref.utm_to_latlon(tree.odm_georeferencing_latlon, photo, idx)
+
+        # convert ply model to LAS reference system
+        geo_ref.convert_to_las(tree.odm_textured_model_ply_geo)
+
+
+        log.ODM_INFO('Running OMD Georeferencing Cell - Finished')
+        return ecto.OK if args['end_with'] != 'odm_georeferencing' else ecto.QUIT
+
+
+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)
+ 
+
+    if args['--end-with'] != "odm_georeferencing":
+        odm_orthophoto()
--- a/scripts/odm_meshing.py
+++ b/scripts/odm_meshing.py
@ -0,0 +1,68 @@
+import ecto
+
+from opendm import log
+from opendm import io
+from opendm import system
+from opendm import context
+
+class ODMeshingCell(ecto.Cell):
+
+    def declare_params(self, params):
+        params.declare("max_vertex", 'The maximum vertex count of the output '
+                                        'mesh', 100000)
+        params.declare("oct_tree", 'Oct-tree depth used in the mesh reconstruction, '
+                            'increase to get more vertices, recommended '
+                            'values are 8-12', 9)
+        params.declare("samples", 'Number of points per octree node, recommended '
+                            'value: 1.0', 1)
+        params.declare("solver", '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.', 9)
+
+    def declare_io(self, params, inputs, outputs):
+        inputs.declare("tree", "Struct with paths", [])
+        inputs.declare("args", "The application arguments.", {})
+        inputs.declare("reconstruction", "Clusters output. list of ODMReconstructions", [])
+        outputs.declare("reconstruction", "Clusters output. list of ODMReconstructions", [])
+
+    def process(self, inputs, outputs):
+        
+        log.ODM_INFO('Running OMD Meshing Cell')
+
+        # get inputs
+        args = self.inputs.args
+        tree = self.inputs.tree
+
+        # define paths and create working directories
+        system.mkdir_p(tree.odm_meshing)
+
+        # check if we rerun cell or not
+        rerun_cell = args['rerun'] is not None \
+            and args['rerun'] == 'odm_meshing'
+
+        if not io.file_exists(tree.odm_mesh) or rerun_cell:
+            log.ODM_DEBUG('Writting ODM Mesh file in: %s' % tree.odm_mesh)
+
+            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,
+                'oct_tree': self.params.oct_tree,
+                'samples': self.params.samples,
+                'solver':self.params.solver
+            }
+
+            # run meshing binary
+            system.run('{bin}/odm_meshing -inputFile {infile} '         \
+                '-outputFile {outfile} -logFile {log} '                 \
+                '-maxVertexCount {max_vertex} -octreeDepth {oct_tree} ' \
+                '-samplesPerNode {samples} -solverDivide {solver}'.format(**kwargs))
+        else:
+            log.ODM_WARNING('Found a valid ODM Mesh file in: %s' % 
+                (tree.odm_mesh))
+        
+        log.ODM_INFO('Running OMD Meshing Cell - Finished')
+        return ecto.OK if args['end_with'] != 'odm_meshing' else ecto.QUIT
--- a/scripts/odm_orthophoto.py
+++ b/scripts/odm_orthophoto.py
@ -0,0 +1,103 @@
+import ecto
+
+from opendm import io
+from opendm import log
+from opendm import system
+from opendm import context
+
+class ODMOrthoPhotoCell(ecto.Cell):
+    def declare_params(self, params):
+        params.declare("resolution", 'Orthophoto ground resolution in pixels/meter', 20)
+
+    def declare_io(self, params, inputs, outputs):
+        inputs.declare("tree", "Struct with paths", [])
+        inputs.declare("args", "The application arguments.", {})
+        inputs.declare("reconstruction", "list of ODMReconstructions", [])
+
+    def process(self, inputs, outputs):
+
+        log.ODM_INFO('Running OMD OrthoPhoto Cell')
+
+        # get inputs
+        args = self.inputs.args
+        tree = self.inputs.tree
+
+        # define paths and create working directories
+        system.mkdir_p(tree.odm_orthophoto)
+
+        # check if we rerun cell or not
+        rerun_cell = args['rerun'] is not None \
+            and args['rerun'] == 'odm_orthophoto'
+
+        if not io.file_exists(tree.odm_orthophoto_file) or rerun_cell:
+
+            # odm_georeference definitions
+            kwargs = {
+                'bin': context.odm_modules_path,
+                'model_geo': tree.odm_textured_model_obj_geo,
+                'log': tree.odm_orthophoto_log,
+                'ortho': tree.odm_orthophoto_file,
+                'corners': tree.odm_orthophoto_corners,
+                'res': self.params.resolution
+            }
+
+            # run odm_georeference
+            system.run('{bin}/odm_orthophoto -inputFile {model_geo} '   \
+                '-logFile {log} -outputFile {ortho} -resolution {res} ' \
+                '-outputCornerFile {corners}'.format(**kwargs))
+        else:
+            log.ODM_WARNING('Found a valid orthophoto in: %s' % tree.odm_orthophoto_file)
+
+        log.ODM_INFO('Running OMD OrthoPhoto Cell - Finished')
+        return ecto.OK if args['end_with'] != 'odm_orthophoto' else ecto.QUIT
+
+
+def odm_orthophoto():
+    """Run odm_orthophoto"""
+    print "\n  - running orthophoto generation - " + system.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."
--- a/scripts/odm_texturing.py
+++ b/scripts/odm_texturing.py
@ -0,0 +1,67 @@
+import ecto
+
+from opendm import log
+from opendm import io
+from opendm import system
+from opendm import context
+
+class ODMTexturingCell(ecto.Cell):  
+
+    def declare_params(self, params):
+        params.declare("resize", 'resizes images by the largest side', 2400)
+        params.declare("resolution", 'The resolution of the output textures. Must be '
+                            'greater than textureWithSize.', 4096)
+        params.declare("size", 'The resolution to rescale the images performing '
+                            'the texturing.', 3600)
+
+    def declare_io(self, params, inputs, outputs):
+        inputs.declare("tree", "Struct with paths", [])
+        inputs.declare("args", "The application arguments.", {})
+        inputs.declare("reconstruction", "Clusters output. list of ODMReconstructions", [])
+        outputs.declare("reconstruction", "Clusters output. list of ODMReconstructions", [])
+
+    def process(self, inputs, outputs):
+        
+        log.ODM_INFO('Running OMD Texturing Cell')
+
+        # get inputs
+        args = self.inputs.args
+        tree = self.inputs.tree
+
+        # define paths and create working directories
+        system.mkdir_p(tree.odm_texturing)
+
+        # check if we rerun cell or not
+        rerun_cell = args['rerun'] is not None \
+            and args['rerun'] == 'odm_texturing'
+
+        if not io.file_exists(tree.odm_textured_model_obj) or rerun_cell:
+            log.ODM_DEBUG('Writting ODM Textured file in: %s' \
+                % tree.odm_textured_model_obj)
+
+            # odm_texturing definitions
+            kwargs = {
+                'bin': context.odm_modules_path,
+                'out_dir': tree.odm_texturing,
+                'bundle': tree.opensfm_bundle,
+                'imgs_path': tree.dataset_resize,
+                'imgs_list': tree.opensfm_bundle_list,
+                'model': tree.odm_mesh,
+                'log': tree.odm_texuring_log,
+                'resize': self.params.resize,
+                'resolution': self.params.resolution,
+                'size': self.params.size
+            }
+
+            # run texturing binary
+            system.run('{bin}/odm_texturing -bundleFile {bundle} '           \
+                '-imagesPath {imgs_path} -imagesListPath {imgs_list} '       \
+                '-inputModelPath {model} -outputFolder {out_dir}/ '          \
+                '-textureResolution {resolution} -bundleResizedTo {resize} ' \
+                '-textureWithSize {size} -logFile {log}'.format(**kwargs))
+        else:
+            log.ODM_WARNING('Found a valid ODM Texture file in: %s' \
+                % tree.odm_textured_model_obj)
+                
+        log.ODM_INFO('Running OMD Texturing Cell - Finished')
+        return ecto.OK if args['end_with'] != 'odm_texturing' else ecto.QUIT
--- a/scripts/opensfm.py
+++ b/scripts/opensfm.py
@ -0,0 +1,100 @@
+import ecto
+
+from opendm import log
+from opendm import io
+from opendm import system
+from opendm import context
+
+class ODMOpenSfMCell(ecto.Cell):
+    def declare_params(self, params):
+        params.declare("use_exif_size", "The application arguments.", False)
+        params.declare("feature_process_size", "The application arguments.", 2400)
+        params.declare("feature_min_frames", "The application arguments.", 4000)
+        params.declare("processes", "The application arguments.", context.num_cores)
+        params.declare("matching_gps_neighbors", "The application arguments.", 8)
+        params.declare("matching_gps_distance", "The application arguments.", 0)
+
+    def declare_io(self, params, inputs, outputs):
+        inputs.declare("tree", "Struct with paths", [])
+        inputs.declare("args", "The application arguments.", {})
+        inputs.declare("photos", "list of ODMPhoto's", [])
+        outputs.declare("reconstruction", "list of ODMReconstructions", [])
+
+    def process(self, inputs, outputs):
+
+        log.ODM_INFO('Running OMD OpenSfm Cell')
+
+        # get inputs
+        tree = self.inputs.tree
+        args = self.inputs.args
+        photos = self.inputs.photos
+
+        if not photos:
+            log.ODM_ERROR('Not enough photos in photos array to start OpenSfm')
+            return ecto.QUIT
+
+        # create working directories     
+        system.mkdir_p(tree.opensfm)
+        system.mkdir_p(tree.pmvs)
+
+        # check if we rerun cell or not
+        rerun_cell = args['rerun'] is not None \
+            and args['rerun'] == 'opensfm'
+
+
+        ### check if reconstruction was done before
+
+        if not io.file_exists(tree.opensfm_reconstruction) or rerun_cell:
+            # create file list
+            list_path = io.join_paths(tree.opensfm, 'image_list.txt')
+            with open(list_path, 'w') as fout:
+                for photo in photos:
+                    fout.write('%s\n' % photo.path_file)
+
+            # create config file for OpenSfM
+            config = [
+                "use_exif_size: %s" % ('no' if not self.params.use_exif_size else 'yes'),
+                "feature_process_size: %s" % self.params.feature_process_size,
+                "feature_min_frames: %s" % self.params.feature_min_frames,
+                "processes: %s" % self.params.processes,
+                "matching_gps_neighbors: %s" % self.params.matching_gps_neighbors
+            ]
+
+            if args['matcher_distance']>0:
+                config.append("matching_gps_distance: %s" % self.params.matching_gps_distance)
+
+            # write config file
+            config_filename = io.join_paths(tree.opensfm, 'config.yaml')
+            with open(config_filename, 'w') as fout:
+                fout.write("\n".join(config))
+
+            # run OpenSfM reconstruction
+            system.run('PYTHONPATH=%s %s/bin/run_all %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' %
+                (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
+
+        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)
+
+        log.ODM_INFO('Running OMD OpenSfm Cell - Finished')
+        return ecto.OK if args['end_with'] != 'opensfm' else ecto.QUIT
--- a/scripts/pmvs.py
+++ b/scripts/pmvs.py
@ -0,0 +1,73 @@
+import ecto
+
+from opendm import io
+from opendm import log
+from opendm import system
+from opendm import context
+
+class ODMPmvsCell(ecto.Cell):
+
+    def declare_params(self, params):
+        params.declare("level", 'The level in the image pyramid that is used '
+                                'for the computation', 1)
+        params.declare("csize", 'Cell size controls the density of reconstructions', 2)
+        params.declare("thresh", 'A patch reconstruction is accepted as a success '
+                            'and kept, if its associcated photometric consistency '
+                            'measure is above this threshold.', 0.7)
+        params.declare("wsize", '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.', 7)
+        params.declare("min_imgs", 'Each 3D point must be visible in at least '
+                            'minImageNum images for being reconstructed. 3 is '
+                            'suggested in general.', 3)
+        params.declare("cores", 'The maximum number of cores to use in dense '
+                            ' reconstruction.', context.num_cores)
+
+    def declare_io(self, params, inputs, outputs):
+        inputs.declare("tree", "Struct with paths", [])
+        inputs.declare("args", "The application arguments.", {})
+        inputs.declare("reconstruction", "list of ODMReconstructions", [])
+        outputs.declare("reconstruction", "list of ODMReconstructions", [])
+
+    def process(self, inputs, outputs):
+        
+        log.ODM_INFO('Running OMD PMVS Cell')
+
+        # get inputs
+        args = self.inputs.args
+        tree = self.inputs.tree
+
+        # check if we rerun cell or not
+        rerun_cell = args['rerun'] is not None \
+            and args['rerun'] == 'pmvs'
+
+        if not io.file_exists(tree.pmvs_model) or rerun_cell:
+            log.ODM_DEBUG('Creating dense pointcloud in: %s' % tree.pmvs_model)
+
+            kwargs = {
+                'bin': context.cmvs_opts_path,
+                'prefix': tree.pmvs_rec_path,
+                'level': self.params.level,
+                'csize': self.params.csize,
+                'thresh': self.params.thresh,
+                'wsize': self.params.wsize,
+                'min_imgs': self.params.min_imgs,
+                'cores': self.params.cores
+            }
+
+            # generate pmvs2 options
+            system.run('{bin} {prefix}/ {level} {csize} {thresh} {wsize} ' \
+                       '{min_imgs} {cores}'.format(**kwargs))
+
+            # run pmvs2
+            system.run('%s %s/ option-0000' % \
+                (context.pmvs2_path, tree.pmvs_rec_path))
+
+        else:
+            log.ODM_WARNING('Found a valid PMVS file in %s' % tree.pmvs_model)
+
+        log.ODM_INFO('Running OMD PMVS Cell - Finished')
+        return ecto.OK if args['end_with'] != 'pmvs' else ecto.QUIT
--- a/scripts/resize.py
+++ b/scripts/resize.py
@ -0,0 +1,91 @@
+import ecto
+import cv2
+import pyexiv2
+
+from opendm import log
+from opendm import system
+from opendm import io
+from opendm import types
+
+class ODMResizeCell(ecto.Cell):    
+    def declare_params(self, params):
+        params.declare("resize_to", "resizes images by the largest side", 2400)
+
+    def declare_io(self, params, inputs, outputs):
+        inputs.declare("tree", "Struct with paths", [])
+        inputs.declare("args", "The application arguments.", [])
+        inputs.declare("photos", "Clusters inputs. list of ODMPhoto's", [])
+        outputs.declare("photos", "Clusters output. list of ODMPhoto's", [])
+
+    def process(self, inputs, outputs):
+
+        log.ODM_INFO('Running ODM Resize Cell')
+
+        # get inputs
+        args = self.inputs.args
+        tree = self.inputs.tree
+        photos = self.inputs.photos
+
+        if not photos:
+            log.ODM_ERROR('Not enough photos in photos to resize')
+            return ecto.QUIT
+        
+        # create working directory
+        system.mkdir_p(tree.dataset_resize)
+
+        log.ODM_DEBUG('Resizing dataset to: %s' % tree.dataset_resize)
+
+        # check if we rerun cell or not
+        rerun_cell = args['rerun'] is not None \
+            and args['rerun'] == 'resize'
+
+        # loop over photos
+        for photo in photos:
+            # define image paths
+            path_file = photo.path_file
+            new_path_file = io.join_paths(tree.dataset_resize, photo.filename)
+            # set raw image path in case we want to rerun cell
+            if io.file_exists(new_path_file) and rerun_cell:
+                path_file = io.join_paths(tree.dataset_raw, photo.filename)
+
+            if not io.file_exists(new_path_file) or rerun_cell:
+                # open and resize image with opencv
+                img = cv2.imread(path_file)
+                # compute new size
+                max_side = max(img.shape[0], img.shape[1])
+                ratio = float(self.params.resize_to) / float(max_side)
+                img_r = cv2.resize(img, None, fx=ratio, fy=ratio)
+                # write image with opencv
+                cv2.imwrite(new_path_file, img_r)
+                # read metadata with pyexiv2
+                old_meta = pyexiv2.ImageMetadata(path_file)
+                new_meta = pyexiv2.ImageMetadata(new_path_file)
+                old_meta.read()
+                new_meta.read()
+                # copy metadata
+                old_meta.copy(new_meta)
+                # update metadata size
+                new_meta['Exif.Photo.PixelXDimension'].value = img_r.shape[0]
+                new_meta['Exif.Photo.PixelYDimension'].value = img_r.shape[1]
+                new_meta.write()
+                # update photos array with new values
+                photo.path_file = new_path_file
+                photo.width = img_r.shape[0]
+                photo.height = img_r.shape[1]
+                photo.update_focal()
+
+                # log message
+                log.ODM_DEBUG('Resized %s | dimensions: %s' % \
+                    (photo.filename, img_r.shape))
+            else:
+                # log message
+                log.ODM_WARNING('Already resized %s | dimensions: %s x %s' % \
+                    (photo.filename, photo.width, photo.height))
+
+        log.ODM_INFO('Resized %s images' % len(photos))
+        
+        # append photos to cell output
+        self.outputs.photos = photos
+
+        log.ODM_INFO('Running ODM Resize Cell - Finished')
+        return ecto.OK if args['end_with'] != 'resize' else ecto.QUIT
--- a/src/bundler
+++ b/src/bundler
@ -1 +0,0 @@
-Subproject commit b34cc5dcd54345272028b68f82fa4d0ae8a103c9
--- a/vlfeat.tar.gz
+++ b/vlfeat.tar.gz
				`@ -1 +0,0 @@`
				`Subproject commit b34cc5dcd54345272028b68f82fa4d0ae8a103c9`