Remove PMVS module

Former-commit-id: eda8beaefe

.dockerignore

@@ -6,12 +6,9 @@ SuperBuild/install
 SuperBuild/src
 build
 opensfm
-pmvs
 odm_orthophoto
 odm_texturing
 odm_meshing
 odm_georeferencing
 images_resize
 .git
-
-

README.md

@@ -105,7 +105,7 @@ or
 
     python run.py --rerun-from odm_meshing project-name
 
-The options for rerunning are: 'resize', 'opensfm', 'slam', 'cmvs', 'pmvs', 'odm_meshing', 'mvs_texturing', 'odm_georeferencing', 'odm_orthophoto'
+The options for rerunning are: 'resize', 'opensfm', 'slam', 'smvs', 'odm_meshing', 'mvs_texturing', 'odm_georeferencing', 'odm_orthophoto'
 
 ### View Results
 
@@ -151,7 +151,7 @@ You can also view the orthophoto GeoTIFF in [QGIS](http://www.qgis.org/) or othe
 
 ## Build and Run Using Docker
 
-(Instructions below apply to Ubuntu 14.04, but the Docker image workflow 
+(Instructions below apply to Ubuntu 14.04, but the Docker image workflow
 has equivalent procedures for Mac OS X and Windows. See [docs.docker.com](https://docs.docker.com/))
 
 OpenDroneMap is Dockerized, meaning you can use containerization to build and run it without tampering with the configuration of libraries and packages already
@@ -177,7 +177,7 @@ If you want to build your own Docker image from sources, type:
 Using this method, the containerized ODM will process the images in the OpenDroneMap/images directory and output results
 to the OpenDroneMap/odm_orthophoto and OpenDroneMap/odm_texturing directories as described in the [Viewing Results](https://github.com/OpenDroneMap/OpenDroneMap/wiki/Output-and-Results) section.
 If you want to view other results outside the Docker image simply add which directories you're interested in to the run command in the same pattern
-established above. For example, if you're interested in the dense cloud results generated by PMVS and in the orthophoto,
+established above. For example, if you're interested in the dense cloud results generated by OpenSfM and in the orthophoto,
 simply use the following `docker run` command after building the image:
 
     docker run -it --rm \
@@ -195,7 +195,7 @@ If you want to get all intermediate outputs, run the following command:
         -v "$(pwd)/odm_orthophoto:/code/odm_orthophoto" \
         -v "$(pwd)/odm_texturing:/code/odm_texturing" \
         -v "$(pwd)/opensfm:/code/opensfm" \
-        -v "$(pwd)/pmvs:/code/pmvs" \
+        -v "$(pwd)/smvs:/code/smvs" \
         opendronemap/opendronemap
 
 To pass in custom parameters to the run.py script, simply pass it as arguments to the `docker run` command. For example:
@@ -222,7 +222,7 @@ When building your own Docker image, if image size is of importance to you, you
 This will clean up intermediate steps in the Docker build process, resulting in a significantly smaller image (about half the size).
 
 Experimental flags need to be enabled in Docker to use the ```--squash``` flag. To enable this, insert the following into the file ```/etc/docker/daemon.json```:
-    
+
     {
         "experimental": true
     }
@@ -244,7 +244,7 @@ Coming soon...
 
 ## Documentation:
 
-For documentation, everything is being moved to [http://docs.opendronemap.org/](http://docs.opendronemap.org/) but you can also take a look at our [wiki](https://github.com/OpenDroneMap/OpenDroneMap/wiki). Check those places first if you are having problems. There's also help at [community forum](http://community.opendronemap.org/), and if you still need help and think you've found a bug or need an enhancement, look through the issue queue or create one. 
+For documentation, everything is being moved to [http://docs.opendronemap.org/](http://docs.opendronemap.org/) but you can also take a look at our [wiki](https://github.com/OpenDroneMap/OpenDroneMap/wiki). Check those places first if you are having problems. There's also help at [community forum](http://community.opendronemap.org/), and if you still need help and think you've found a bug or need an enhancement, look through the issue queue or create one.
 
 ## Developers
 

SuperBuild/CMakeLists.txt

@@ -114,14 +114,12 @@ SETUP_EXTERNAL_PROJECT(Hexer 1.4 ON)
 # ---------------------------------------------------------------------------------------------
 # Open Geometric Vision (OpenGV)
 # Open Structure from Motion (OpenSfM)
-# Clustering Views for Multi-view Stereo (CMVS)
 # Catkin
 # Ecto
 #
 
 set(custom_libs OpenGV
 				OpenSfM
-				CMVS
 				Catkin
 				Ecto
 				LASzip

SuperBuild/cmake/External-CMVS.cmake

@@ -1,28 +0,0 @@
-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
-)
-

licenses/license.md

@@ -10,8 +10,6 @@ Licensing for portions of OpenDroneMap are as follows:
 * libcv - BSD - http://opencv.org/license.html
 * libcvaux - BSD - http://opencv.org/license.html
 * bundler - GPLv3 - http://www.gnu.org/copyleft/gpl.html
-* cmvs  - GPLv3 - http://www.gnu.org/copyleft/gpl.html
-* pmvs2  - GPLv3 - http://www.gnu.org/copyleft/gpl.html
 * parallel  - GPLv3 - http://www.gnu.org/copyleft/gpl.html
 * PoissonRecon - BSD - http://www.cs.jhu.edu/~misha/Code/PoissonRecon/license.txt
 * vlfeat - BSD - http://www.vlfeat.org/license.html

opendm/config.py

@@ -7,7 +7,7 @@ from appsettings import SettingsParser
 import sys
 
 # parse arguments
-processopts = ['dataset', 'opensfm', 'slam', 'cmvs', 'pmvs', 'smvs',
+processopts = ['dataset', 'opensfm', 'slam', 'smvs',
                'odm_meshing', 'odm_25dmeshing', 'mvs_texturing', 'odm_georeferencing',
                'odm_dem', 'odm_orthophoto']
 
@@ -241,63 +241,6 @@ def config():
                         'with --smvs-enable-shading when you have simple JPGs with '
                         'SRGB gamma correction. 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-min-images',
-                        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=context.num_cores,
-                        type=int,
-                        help=('The maximum number of cores to use in dense '
-                              'reconstruction. Default: %(default)s'))
-
     parser.add_argument('--mesh-size',
                         metavar='<positive integer>',
                         default=100000,
@@ -612,11 +555,6 @@ def config():
       log.ODM_INFO('Fast orthophoto is turned on, automatically setting --use-25dmesh')
       args.use_25dmesh = True
 
-      # Cannot use pmvs
-      if args.use_pmvs:
-        log.ODM_INFO('Fast orthophoto is turned on, cannot use pmvs (removing --use-pmvs)')
-        args.use_pmvs = False
-
     if args.dtm and args.pc_classify == 'none':
       log.ODM_INFO("DTM is turned on, automatically turning on point cloud classification")
       args.pc_classify = "smrf"

opendm/context.py

@@ -23,11 +23,6 @@ ccd_widths_path = os.path.join(opensfm_path, 'opensfm/data/sensor_data.json')
 # define orb_slam2 path
 orb_slam2_path = os.path.join(superbuild_path, "src/orb_slam2")
 
-# 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 smvs join_paths
 makescene_path = os.path.join(superbuild_path, 'src', 'elibs', 'mve', 'apps', 'makescene', 'makescene') #TODO: don't install in source
 smvs_path = os.path.join(superbuild_path, 'src', 'elibs', 'smvs', 'app', 'smvsrecon')

opendm/tasks.py

@@ -8,8 +8,6 @@ from scripts.opensfm import opensfm
 
 # Define pipeline tasks
 tasks_dict = {'1': 'opensfm',
-              '2': 'cmvs',
-              '3': 'pmvs',
               '4': 'odm_meshing',
               '5': 'mvs_texturing',
               '6': 'odm_georeferencing',
@@ -52,7 +50,7 @@ class ODMTaskManager(object):
                           'args': _odm_app.args,
                           'photos': _odm_app.photos}
 
-            elif task_name in ['cmvs', 'pmvs', 'odm_meshing', 'mvs_texturing', 'odm_georeferencing', 'odm_orthophoto', 'zip_results']:
+            elif task_name in [ 'odm_meshing', 'mvs_texturing', 'odm_georeferencing', 'odm_orthophoto', 'zip_results']:
                 # setup this task
                 command = None
                 inputs = {}

opendm/types.py

@@ -274,14 +274,8 @@ class ODM_GeoRef(object):
         with open(json_file, 'w') as f:
             f.write(pipeline)
 
-<<<<<<< HEAD
         # call pdal
-        system.run('{bin}/pdal pipeline -i {json} --readers.ply.filename={f_in} '
-                   '--writers.las.filename={f_out}'.format(**kwargs))
-=======
-        # call pdal 
         system.run('{bin}/pdal pipeline -i {json} --readers.ply.filename={f_in}'.format(**kwargs))
->>>>>>> 4a00c4d8411befc0c1b01a36f713e61633f002b3
 
     def utm_to_latlon(self, _file, _photo, idx):
 
@@ -421,7 +415,6 @@ class ODM_Tree(object):
         self.dataset_raw = io.join_paths(self.root_path, 'images')
         self.opensfm = io.join_paths(self.root_path, 'opensfm')
         self.smvs = io.join_paths(self.root_path, 'smvs')
-        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_25dtexturing = io.join_paths(self.root_path, 'odm_texturing_25d')
@@ -446,13 +439,6 @@ class ODM_Tree(object):
         self.opensfm_model = io.join_paths(self.opensfm, 'depthmaps/merged.ply')
         self.opensfm_transformation = io.join_paths(self.opensfm, 'geocoords_transformation.txt')
 
-        # 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')
-
         # smvs
         self.smvs_model = io.join_paths(self.smvs, 'smvs_dense_point_cloud.ply')
         self.mve_path = io.join_paths(self.opensfm, 'mve')

run.py

@@ -33,7 +33,7 @@ if __name__ == '__main__':
                   + args.project_path + "/odm_orthophoto "
                   + args.project_path + "/odm_texturing "
                   + args.project_path + "/opensfm "
-                  + args.project_path + "/pmvs")
+                  + args.project_path + "/smvs")
 
     # create an instance of my App BlackBox
     # internally configure all tasks

scripts/cmvs.py

@@ -1,68 +0,0 @@
-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):
-
-        # Benchmarking
-        start_time = system.now_raw()
-        
-        log.ODM_INFO('Running ODM 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') or \
-                     (args.rerun_all) or \
-                     (args.rerun_from is not None and
-                      'cmvs' in args.rerun_from)
-
-        if not io.file_exists(tree.pmvs_bundle) or rerun_cell:
-            log.ODM_DEBUG('Writing 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)
-
-        outputs.reconstruction = inputs.reconstruction
-
-        if args.time:
-            system.benchmark(start_time, tree.benchmarking, 'CMVS')
-
-        log.ODM_INFO('Running ODM CMVS Cell - Finished')
-        return ecto.OK if args.end_with != 'cmvs' else ecto.QUIT

scripts/mvstex.py

@@ -5,8 +5,6 @@ from opendm import io
 from opendm import system
 from opendm import context
 
-import pmvs2nvmcams
-
 class ODMMvsTexCell(ecto.Cell):
     def declare_params(self, params):
         params.declare("data_term", 'Data term: [area, gmi] default: gmi', "gmi")
@@ -38,7 +36,7 @@ class ODMMvsTexCell(ecto.Cell):
 
         # define paths and create working directories
         system.mkdir_p(tree.odm_texturing)
-        if args.use_25dmesh: system.mkdir_p(tree.odm_25dtexturing) 
+        if args.use_25dmesh: system.mkdir_p(tree.odm_25dtexturing)
 
         # check if we rerun cell or not
         rerun_cell = (args.rerun is not None and
@@ -62,11 +60,11 @@ class ODMMvsTexCell(ecto.Cell):
                     'model': tree.odm_25dmesh,
 
                     # We always skip the visibility test when using the 2.5D mesh
-                    # because many faces end up being narrow, and almost perpendicular 
+                    # because many faces end up being narrow, and almost perpendicular
                     # to the ground plane. The visibility test improperly classifies
                     # them as "not seen" since the test is done on a single triangle vertex,
                     # and while one vertex might be occluded, the other two might not.
-                    'force_skip_vis_test': True 
+                    'force_skip_vis_test': True
                 }]
 
         for r in runs:
@@ -82,7 +80,7 @@ class ODMMvsTexCell(ecto.Cell):
                 skipLocalSeamLeveling = ""
                 skipHoleFilling = ""
                 keepUnseenFaces = ""
-                
+
                 if (self.params.skip_vis_test or r['force_skip_vis_test']):
                     skipGeometricVisibilityTest = "--skip_geometric_visibility_test"
                 if (self.params.skip_glob_seam_leveling):
@@ -98,8 +96,6 @@ class ODMMvsTexCell(ecto.Cell):
                 kwargs = {
                     'bin': context.mvstex_path,
                     'out_dir': io.join_paths(r['out_dir'], "odm_textured_model"),
-                    'pmvs_folder': tree.pmvs_rec_path,
-                    'nvm_file': io.join_paths(tree.pmvs_rec_path, "nvmCams.nvm"),
                     'model': r['model'],
                     'dataTerm': self.params.data_term,
                     'outlierRemovalType': self.params.outlier_rem_type,
@@ -111,16 +107,8 @@ class ODMMvsTexCell(ecto.Cell):
                     'toneMapping': self.params.tone_mapping
                 }
 
-                if not args.use_pmvs:
+                kwargs['nvm_file'] = io.join_paths(tree.opensfm,
-                    kwargs['nvm_file'] = io.join_paths(tree.opensfm,
+                                                   "reconstruction.nvm")
-                                                       "reconstruction.nvm")
-                else:
-                    log.ODM_DEBUG('Generating .nvm file from pmvs output: %s'
-                                  % '{nvm_file}'.format(**kwargs))
-
-                    # Create .nvm camera file.
-                    pmvs2nvmcams.run('{pmvs_folder}'.format(**kwargs),
-                                     '{nvm_file}'.format(**kwargs))
 
                 # Make sure tmp directory is empty
                 mvs_tmp_dir = os.path.join(r['out_dir'], 'tmp')

scripts/odm_app.py

@@ -10,8 +10,6 @@ from dataset import ODMLoadDatasetCell
 from run_opensfm import ODMOpenSfMCell
 from smvs import ODMSmvsCell
 from odm_slam import ODMSlamCell
-from pmvs import ODMPmvsCell
-from cmvs import ODMCmvsCell
 from odm_meshing import ODMeshingCell
 from mvstex import ODMMvsTexCell
 from odm_georeferencing import ODMGeoreferencingCell
@@ -51,13 +49,6 @@ class ODMApp(ecto.BlackBox):
                                            fixed_camera_params=p.args.use_fixed_camera_params,
                                            hybrid_bundle_adjustment=p.args.use_hybrid_bundle_adjustment),
                  'slam': ODMSlamCell(),
-                 '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_min_images,
-                                     cores=p.args.pmvs_num_cores),
                  'smvs': ODMSmvsCell(alpha=p.args.smvs_alpha,
                                      scale=p.args.smvs_scale,
                                      threads=p.args.max_concurrency,
@@ -135,7 +126,7 @@ class ODMApp(ecto.BlackBox):
                             self.args[:] >> self.smvs['args'],
                             self.opensfm['reconstruction'] >> self.smvs['reconstruction']]
 
-            # create odm mesh from pmvs point cloud
+            # create odm mesh from smvs point cloud
             connections += [self.tree[:] >> self.meshing['tree'],
                             self.args[:] >> self.meshing['args'],
                             self.smvs['reconstruction'] >> self.meshing['reconstruction']]
@@ -169,20 +160,14 @@ class ODMApp(ecto.BlackBox):
         connections += [self.tree[:] >> self.slam['tree'],
                         self.args[:] >> self.slam['args']]
 
-        # run cmvs
+        connections += [self.tree[:] >> self.smvs['tree'],
-        connections += [self.tree[:] >> self.cmvs['tree'],
+                        self.args[:] >> self.smvs['args'],
-                        self.args[:] >> self.cmvs['args'],
+                        self.slam['reconstruction'] >> self.smvs['reconstruction']]
-                        self.slam['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']]
+                        self.smvs['reconstruction'] >> self.meshing['reconstruction']]
 
         # create odm texture
         connections += [self.tree[:] >> self.texturing['tree'],

scripts/odm_georeferencing.py

@@ -92,13 +92,12 @@ class ODMGeoreferencingCell(ecto.Cell):
                     'verbose': verbose
 
                 }
-                if not args.use_pmvs:
+
-                    if args.fast_orthophoto:
+                if args.fast_orthophoto:
-                        kwargs['pc'] = os.path.join(tree.opensfm, 'reconstruction.ply')
+                    kwargs['pc'] = os.path.join(tree.opensfm, 'reconstruction.ply')
-                    else:
-                        kwargs['pc'] = tree.opensfm_model
                 else:
-                    kwargs['pc'] = tree.pmvs_model
+                    kwargs['pc'] = tree.opensfm_model
+
 
                 # Check to see if the GCP file exists
 

scripts/odm_slam.py

@@ -39,7 +39,6 @@ class ODMSlamCell(ecto.Cell):
 
         # create working directories
         system.mkdir_p(tree.opensfm)
-        system.mkdir_p(tree.pmvs)
 
         vocabulary = os.path.join(context.orb_slam2_path,
                                   'Vocabulary/ORBvoc.txt')
@@ -96,16 +95,5 @@ class ODMSlamCell(ecto.Cell):
                 'Found a valid Bundler file in: {}'.format(
                     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={} {}/bin/export_pmvs {} --output {}'.format(
-                    context.pyopencv_path, context.opensfm_path, tree.opensfm,
-                    tree.pmvs))
-        else:
-            log.ODM_WARNING('Found a valid CMVS file in: {}'.format(
-                tree.pmvs_visdat))
-
         log.ODM_INFO('Running OMD Slam Cell - Finished')
         return ecto.OK if args.end_with != 'odm_slam' else ecto.QUIT

scripts/pmvs.py

@@ -1,84 +0,0 @@
-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):
-
-        # Benchmarking
-        start_time = system.now_raw()
-
-        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') or \
-                     (args.rerun_all) or \
-                     (args.rerun_from is not None and
-                      'pmvs' in args.rerun_from)
-
-        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)
-
-        outputs.reconstruction = inputs.reconstruction
-        
-        if args.time:
-            system.benchmark(start_time, tree.benchmarking, 'PMVS')
-
-        log.ODM_INFO('Running ODM PMVS Cell - Finished')
-        return ecto.OK if args.end_with != 'pmvs' else ecto.QUIT

scripts/pmvs2nvmcams.py

@@ -1,144 +0,0 @@
-import os
-import numpy as np
-
-from opendm import log
-
-# Go from QR-factorizatoin to corresponding RQ-factorization.
-def rq(A):
-    Q,R = np.linalg.qr(np.flipud(A).T)
-    R = np.flipud(R.T)
-    Q = Q.T
-    return R[:,::-1],Q[::-1,:]
-
-# Create a unit quaternion from rotation matrix.
-def rot2quat(R):
-    
-    # Float epsilon (use square root to be well with the stable region).
-    eps = np.sqrt(np.finfo(float).eps)
-    
-    # If the determinant is not 1, it's not a rotation matrix
-    if np.abs(np.linalg.det(R) - 1.0) > eps:
-        log.ODM_ERROR('Matrix passed to rot2quat was not a rotation matrix, det != 1.0')
-
-    tr = np.trace(R)
-
-    quat = np.zeros((1,4))
-
-    # Is trace big enough be computationally stable?
-    if tr > eps:
-        S = 0.5 / np.sqrt(tr + 1.0)
-        quat[0,0] = 0.25 / S
-        quat[0,1] = (R[2,1] - R[1,2]) * S
-        quat[0,2] = (R[0,2] - R[2,0]) * S
-        quat[0,3] = (R[1,0] - R[0,1]) * S
-    else: # It's not, use the largest diagonal.
-        if R[0,0] > R[1,1] and R[0,0] > R[2,2]:
-            S = np.sqrt(1.0 + R[0,0] - R[1,1] - R[2,2]) * 2.0
-            quat[0,0] = (R[2,1] - R[1,2]) / S
-            quat[0,1] = 0.25 * S
-            quat[0,2] = (R[0,1] + R[1,0]) / S
-            quat[0,3] = (R[0,2] + R[2,0]) / S
-        elif R[1,1] > R[2,2]:
-            S = np.sqrt(1.0 - R[0,0] + R[1,1] - R[2,2]) * 2.0
-            quat[0,0] = (R[0,2] - R[2,0]) / S
-            quat[0,1] = (R[0,1] + R[1,0]) / S
-            quat[0,2] = 0.25 * S
-            quat[0,3] = (R[1,2] + R[2,1]) / S
-        else:
-            S = np.sqrt(1.0 - R[0,0] - R[1,1] + R[2,2]) * 2.0
-            quat[0,0] = (R[1,0] - R[0,1]) / S
-            quat[0,1] = (R[0,2] + R[2,0]) / S
-            quat[0,2] = (R[1,2] + R[2,1]) / S
-            quat[0,3] = 0.25 * S
-
-    return quat
- 
-# Decompose a projection matrix into parts 
-# (Intrinsic projection, Rotation, Camera position)
-def decomposeProjection(projectionMatrix):
-
-    # Check input:
-    if projectionMatrix.shape != (3,4):
-        log.ODM_ERROR('Unable to decompose projection matrix, shape != (3,4)')
-
-    RQ = rq(projectionMatrix[:,:3])
-    
-    # Fix sign, since we know K is upper triangular and has a positive diagonal.
-    signMat = np.diag(np.diag(np.sign(RQ[0])))
-    K = signMat*RQ[0]
-    R = signMat*RQ[1]
-    
-    # Calculate camera position from translation vector.
-    t = np.linalg.inv(-1.0*projectionMatrix[:,:3])*projectionMatrix[:,3]
-
-    return K, R, t
-   
-# Parses pvms contour file.  
-def parseContourFile(filePath):
-   
-    with open(filePath, 'r') as contourFile:
-        if (contourFile.readline().strip() != "CONTOUR"):
-            return np.array([])
-        else:
-            pMatData = np.loadtxt(contourFile, float, '#', None, None, 0)
-            if pMatData.shape == (3,4):
-                return pMatData
-    return np.array([])
-
-
-    
-# Creates a .nvm camera file in the pmvs folder.
-def run(pmvsFolder, outputFile):
-
-    projectionFolder = pmvsFolder + "/txt"
-    imageFolder = pmvsFolder + "/visualize"
-
-    pMatrices = []
-    imageFileNames = []
-    
-    # for all files in the visualize folder:
-    for imageFileName in os.listdir(imageFolder):
-        fileNameNoExt = os.path.splitext(imageFileName)[0]
-
-        # look for corresponding projection matrix txt file
-        projectionFilePath = os.path.join(projectionFolder, fileNameNoExt)
-        projectionFilePath += ".txt"
-        if os.path.isfile(projectionFilePath):
-            pMatData = parseContourFile(projectionFilePath)
-            if pMatData.size == 0:
-                log.ODM_WARNING('Unable to parse contour file, skipping: %s'
-                                % projectionFilePath)
-            else:
-                pMatrices.append(np.matrix(pMatData))
-                imageFileNames.append(imageFileName)
-
-    
-    # Decompose projection matrices
-    focals = []
-    rotations = []
-    translations = []
-    for projection in pMatrices:
-        KRt = decomposeProjection(projection)
-        focals.append(KRt[0][0,0])
-        rotations.append(rot2quat(KRt[1]))
-        translations.append(KRt[2])
-
-    # Create .nvm file
-    with open (outputFile, 'w') as nvmFile:
-        nvmFile.write("NVM_V3\n\n")
-        nvmFile.write('%d' % len(rotations) + "\n")
-        
-        for idx, imageFileName in enumerate(imageFileNames):
-            nvmFile.write(os.path.join("visualize", imageFileName))
-            nvmFile.write(" " + '%f' % focals[idx])
-            nvmFile.write(" " + '%f' % rotations[idx][0,0] +
-                          " " + '%f' % rotations[idx][0,1] +
-                          " " + '%f' % rotations[idx][0,2] +
-                          " " + '%f' % rotations[idx][0,3])
-            nvmFile.write(" " + '%f' % translations[idx][0] +
-                          " " + '%f' % translations[idx][1] +
-                          " " + '%f' % translations[idx][2])
-            nvmFile.write(" 0 0\n")
-        nvmFile.write("0\n\n")
-        nvmFile.write("0\n\n")
-        nvmFile.write("0")

scripts/run_opensfm.py

@@ -42,7 +42,6 @@ class ODMOpenSfMCell(ecto.Cell):
 
         # 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
@@ -169,15 +168,6 @@ class ODMOpenSfMCell(ecto.Cell):
             log.ODM_WARNING('Found a valid Bundler file in: %s' %
                             tree.opensfm_reconstruction)
 
-        # if args.use_pmvs:
-        #     # check if reconstruction was exported to pmvs before
-        #     if not io.file_exists(tree.pmvs_visdat) or rerun_cell:
-        #         # run PMVS converter
-        #         system.run('PYTHONPATH=%s %s/bin/export_pmvs %s --output %s' %
-        #                    (context.pyopencv_path, context.opensfm_path, tree.opensfm, tree.pmvs))
-        #     else:
-        #         log.ODM_WARNING('Found a valid CMVS file in: %s' % tree.pmvs_visdat)
-
         if reconstruction.georef:
             system.run('PYTHONPATH=%s %s/bin/opensfm export_geocoords %s --transformation --proj \'%s\'' %
                        (context.pyopencv_path, context.opensfm_path, tree.opensfm, reconstruction.georef.projection.srs))

scripts/smvs.py

@@ -66,7 +66,7 @@ class ODMSmvsCell(ecto.Cell):
                 "-a%s" % self.params.alpha,
                 "-s%s" % self.params.scale,
                 "-o%s" % self.params.output_scale,
-                "--debug-lvl=%s" % '1' if self.params.verbose else '0',
+                "--debug-lvl=%s" % ('1' if self.params.verbose else '0'),
                 "%s" % '-S' if self.params.shading else '',
                 "%s" % '-g' if self.params.gamma_srgb and self.params.shading else '',
                 "--force" if rerun_cell else ''