kopia lustrzana https://github.com/OpenDroneMap/ODM
Merge pull request #1467 from pierotofy/rolling
OpenSfM Update + Rolling Shutter correctionpull/1474/head
Piero Toffanin
GitHub
commit
8b93e068fe
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@ -119,7 +119,7 @@ SETUP_EXTERNAL_PROJECT(GFlags ${ODM_GFlags_Version} ${ODM_BUILD_GFlags})
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# ---------------------------------------------------------------------------------------------
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# Ceres Solver
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#
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set(ODM_Ceres_Version 1.10.0)
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set(ODM_Ceres_Version 2.0.0)
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option(ODM_BUILD_Ceres "Force to build Ceres library" OFF)
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SETUP_EXTERNAL_PROJECT(Ceres ${ODM_Ceres_Version} ${ODM_BUILD_Ceres})
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@ -8,7 +8,7 @@ ExternalProject_Add(${_proj_name}
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STAMP_DIR ${_SB_BINARY_DIR}/stamp
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#--Download step--------------
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DOWNLOAD_DIR ${SB_DOWNLOAD_DIR}
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URL http://ceres-solver.org/ceres-solver-1.14.0.tar.gz
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URL http://ceres-solver.org/ceres-solver-2.0.0.tar.gz
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#--Update/Patch step----------
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UPDATE_COMMAND ""
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#--Configure step-------------
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@ -19,7 +19,7 @@ ExternalProject_Add(${_proj_name}
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#--Download step--------------
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DOWNLOAD_DIR ${SB_DOWNLOAD_DIR}
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GIT_REPOSITORY https://github.com/OpenDroneMap/OpenSfM/
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GIT_TAG 284
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GIT_TAG 286
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#--Update/Patch step----------
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UPDATE_COMMAND git submodule update --init --recursive
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#--Configure step-------------
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2
VERSION
2
VERSION
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@ -1 +1 @@
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2.8.5
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2.8.6
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@ -536,7 +536,7 @@ def config(argv=None, parser=None):
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action=StoreValue,
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type=float,
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default=5,
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help='DSM/DTM resolution in cm / pixel. Note: This value is locked to at least 2x the ground sampling distance (GSD) estimate. To remove the cap, check --ignore-gsd also.'
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help='DSM/DTM resolution in cm / pixel. Note that this value is capped to 2x the ground sampling distance (GSD) estimate. To remove the cap, check --ignore-gsd also.'
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' Default: %(default)s')
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parser.add_argument('--dem-decimation',
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@ -620,6 +620,24 @@ def config(argv=None, parser=None):
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default=False,
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help='Generate OGC 3D Tiles outputs. Default: %(default)s')
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parser.add_argument('--rolling-shutter',
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action=StoreTrue,
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nargs=0,
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default=False,
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help='Turn on rolling shutter correction. If the camera '
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'has a rolling shutter and the images were taken in motion, you can turn on this option '
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'to improve the accuracy of the results. See also --rolling-shutter-readout. '
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'Default: %(default)s')
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parser.add_argument('--rolling-shutter-readout',
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type=float,
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action=StoreValue,
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metavar='<positive integer>',
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default=0,
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help='Override the rolling shutter readout time for your camera sensor (in milliseconds), instead of using the rolling shutter readout database. '
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'Note that not all cameras are present in the database. Set to 0 to use the database value. '
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'Default: %(default)s')
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parser.add_argument('--build-overviews',
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action=StoreTrue,
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nargs=0,
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@ -120,7 +120,7 @@ def opensfm_reconstruction_average_gsd(reconstruction_json, use_all_shots=False)
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gsds = []
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for shotImage in reconstruction['shots']:
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shot = reconstruction['shots'][shotImage]
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if use_all_shots or shot['gps_dop'] < 999999:
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if use_all_shots or shot.get('gps_dop', 999999) < 999999:
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camera = reconstruction['cameras'][shot['camera']]
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shot_origin = get_origin(shot)
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shot_height = shot_origin[2]
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@ -40,15 +40,17 @@ class OSFMContext:
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return io.file_exists(tracks_file) and io.file_exists(reconstruction_file)
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def reconstruct(self, rerun=False):
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def create_tracks(self, rerun=False):
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tracks_file = os.path.join(self.opensfm_project_path, 'tracks.csv')
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reconstruction_file = os.path.join(self.opensfm_project_path, 'reconstruction.json')
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rs_file = self.path('rs_done.txt')
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if not io.file_exists(tracks_file) or rerun:
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self.run('create_tracks')
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else:
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log.ODM_WARNING('Found a valid OpenSfM tracks file in: %s' % tracks_file)
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def reconstruct(self, rolling_shutter_correct=False, rerun=False):
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reconstruction_file = os.path.join(self.opensfm_project_path, 'reconstruction.json')
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if not io.file_exists(reconstruction_file) or rerun:
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self.run('reconstruct')
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self.check_merge_partial_reconstructions()
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@ -64,6 +66,22 @@ class OSFMContext:
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"You could also try to increase the --min-num-features parameter."
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"The program will now exit.")
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if rolling_shutter_correct:
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rs_file = self.path('rs_done.txt')
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if not io.file_exists(rs_file) or rerun:
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self.run('rs_correct')
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log.ODM_INFO("Re-running the reconstruction pipeline")
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self.match_features(True)
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self.create_tracks(True)
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self.reconstruct(rolling_shutter_correct=False, rerun=True)
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self.touch(rs_file)
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else:
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log.ODM_WARNING("Rolling shutter correction already applied")
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def check_merge_partial_reconstructions(self):
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if self.reconstructed():
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data = DataSet(self.opensfm_project_path)
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@ -215,7 +233,7 @@ class OSFMContext:
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"matching_gps_neighbors: %s" % matcher_neighbors,
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"matching_gps_distance: 0",
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"matching_graph_rounds: %s" % matcher_graph_rounds,
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"optimize_camera_parameters: %s" % ('no' if args.use_fixed_camera_params or args.cameras else 'yes'),
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"optimize_camera_parameters: %s" % ('no' if args.use_fixed_camera_params else 'yes'),
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"reconstruction_algorithm: %s" % (args.sfm_algorithm),
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"undistorted_image_format: tif",
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"bundle_outlier_filtering_type: AUTO",
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@ -323,7 +341,7 @@ class OSFMContext:
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if not io.dir_exists(metadata_dir) or rerun:
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self.run('extract_metadata')
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def photos_to_metadata(self, photos, rerun=False):
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def photos_to_metadata(self, photos, rolling_shutter, rolling_shutter_readout, rerun=False):
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metadata_dir = self.path("exif")
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if io.dir_exists(metadata_dir) and not rerun:
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@ -339,7 +357,7 @@ class OSFMContext:
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data = DataSet(self.opensfm_project_path)
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for p in photos:
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d = p.to_opensfm_exif()
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d = p.to_opensfm_exif(rolling_shutter, rolling_shutter_readout)
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with open(os.path.join(metadata_dir, "%s.exif" % p.filename), 'w') as f:
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f.write(json.dumps(d, indent=4))
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@ -368,7 +386,6 @@ class OSFMContext:
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def feature_matching(self, rerun=False):
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features_dir = self.path("features")
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matches_dir = self.path("matches")
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if not io.dir_exists(features_dir) or rerun:
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try:
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@ -386,6 +403,10 @@ class OSFMContext:
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else:
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log.ODM_WARNING('Detect features already done: %s exists' % features_dir)
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self.match_features(rerun)
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def match_features(self, rerun=False):
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matches_dir = self.path("matches")
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if not io.dir_exists(matches_dir) or rerun:
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self.run('match_features')
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else:
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@ -12,6 +12,7 @@ import pytz
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from opendm import io
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from opendm import log
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from opendm import system
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from opendm.rollingshutter import get_rolling_shutter_readout
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import xmltodict as x2d
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from opendm import get_image_size
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from xml.parsers.expat import ExpatError
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@ -140,6 +141,11 @@ class ODM_Photo:
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self.dls_pitch = None
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self.dls_roll = None
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# Aircraft speed
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self.speedX = None
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self.speedY = None
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self.speedZ = None
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# self.center_wavelength = None
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# self.bandwidth = None
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@ -192,7 +198,7 @@ class ODM_Photo:
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xtags = {}
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with open(_path_file, 'rb') as f:
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tags = exifread.process_file(f, details=False)
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tags = exifread.process_file(f, details=True, extract_thumbnail=False)
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try:
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if 'Image Make' in tags:
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try:
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@ -266,6 +272,14 @@ class ODM_Photo:
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timezone = pytz.timezone('UTC')
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epoch = timezone.localize(datetime.utcfromtimestamp(0))
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self.utc_time = (timezone.localize(utc_time) - epoch).total_seconds() * 1000.0
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if 'MakerNote SpeedX' in tags and \
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'MakerNote SpeedY' in tags and \
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'MakerNote SpeedZ' in tags:
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self.speedX = self.float_value(tags['MakerNote SpeedX'])
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self.speedY = self.float_value(tags['MakerNote SpeedY'])
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self.speedZ = self.float_value(tags['MakerNote SpeedZ'])
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except Exception as e:
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log.ODM_WARNING("Cannot read extended EXIF tags for %s: %s" % (self.filename, str(e)))
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@ -366,6 +380,20 @@ class ODM_Photo:
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'GPSZAccuracy'
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], float)
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# DJI Speed tags
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if '@drone-dji:FlightXSpeed' in xtags and \
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'@drone-dji:FlightYSpeed' in xtags and \
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'@drone-dji:FlightZSpeed' in xtags:
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self.set_attr_from_xmp_tag('speedX', xtags, [
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'@drone-dji:FlightXSpeed'
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], float)
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self.set_attr_from_xmp_tag('speedY', xtags, [
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'@drone-dji:FlightYSpeed',
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], float)
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self.set_attr_from_xmp_tag('speedZ', xtags, [
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'@drone-dji:FlightZSpeed',
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], float)
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# Account for over-estimation
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if self.gps_xy_stddev is not None:
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self.gps_xy_stddev *= 2.0
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@ -542,6 +570,8 @@ class ODM_Photo:
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for v in tag.values:
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if isinstance(v, int):
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result.append(float(v))
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elif isinstance(v, tuple) and len(v) == 1 and isinstance(v[0], float):
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result.append(v[0])
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elif v.den != 0:
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result.append(float(v.num) / float(v.den))
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else:
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@ -701,13 +731,14 @@ class ODM_Photo:
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]
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).lower()
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def to_opensfm_exif(self):
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def to_opensfm_exif(self, rolling_shutter = False, rolling_shutter_readout = 0):
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capture_time = 0.0
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if self.utc_time is not None:
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capture_time = self.utc_time / 1000.0
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gps = {}
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if self.latitude is not None and self.longitude is not None:
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has_gps = self.latitude is not None and self.longitude is not None
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if has_gps:
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gps['latitude'] = self.latitude
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gps['longitude'] = self.longitude
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if self.altitude is not None:
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@ -741,6 +772,13 @@ class ODM_Photo:
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'kappa': self.kappa
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}
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# Speed is not useful without GPS
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if self.has_speed() and has_gps:
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d['speed'] = [self.speedY, self.speedX, self.speedZ]
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if rolling_shutter:
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d['rolling_shutter'] = get_rolling_shutter_readout(self.camera_make, self.camera_model, rolling_shutter_readout)
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return d
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def has_ypr(self):
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@ -752,6 +790,11 @@ class ODM_Photo:
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return self.omega is not None and \
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self.phi is not None and \
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self.kappa is not None
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def has_speed(self):
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return self.speedX is not None and \
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self.speedY is not None and \
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self.speedZ is not None
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def has_geo(self):
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return self.latitude is not None and \
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@ -28,11 +28,12 @@ class LocalRemoteExecutor:
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to use the processing power of the current machine as well as offloading tasks to a
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network node.
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"""
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def __init__(self, nodeUrl, rerun = False):
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def __init__(self, nodeUrl, rolling_shutter = False, rerun = False):
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self.node = Node.from_url(nodeUrl)
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self.params = {
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'tasks': [],
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'threads': [],
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'rolling_shutter': rolling_shutter,
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'rerun': rerun
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}
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self.node_online = True
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@ -446,7 +447,8 @@ class ReconstructionTask(Task):
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log.ODM_INFO("Local Reconstruction %s" % octx.name())
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log.ODM_INFO("==================================")
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octx.feature_matching(self.params['rerun'])
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octx.reconstruct(self.params['rerun'])
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octx.create_tracks(self.params['rerun'])
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octx.reconstruct(self.params['rolling_shutter'], self.params['rerun'])
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def process_remote(self, done):
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octx = OSFMContext(self.path("opensfm"))
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@ -0,0 +1,45 @@
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from opendm import log
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# Make Model (lowercase) --> readout time (ms)
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RS_DATABASE = {
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'dji phantom vision fc200': 74, # Phantom 2
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'dji fc300s': 33, # Phantom 3 Advanced
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'dji fc300c': 33, # Phantom 3 Standard
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'dji fc300x': 33, # Phantom 3 Professional
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'dji fc330': 33, # Phantom 4
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'dji fc6310': 33, # Phantom 4 Professional
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'dji fc7203': 20, # Mavic Mini v1
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'dji fc350': 30, # Inspire 1
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'gopro hero4 black': 30, # GoPro Hero 4 Black
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'gopro hero8 black': 17 # GoPro Hero 8 Black
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# Help us add more!
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# See: https://github.com/OpenDroneMap/RSCalibration for instructions
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}
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DEFAULT_RS_READOUT = 30 # Just a guess
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def make_model_key(make, model):
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return ("%s %s" % (make.strip(), model.strip())).lower().strip()
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warn_db_missing = {}
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def get_rolling_shutter_readout(make, model, override_value=0):
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global warn_db_missing
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if override_value > 0:
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return override_value
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key = make_model_key(make, model)
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if key in RS_DATABASE:
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return float(RS_DATABASE[key])
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else:
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# Warn once
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if not key in warn_db_missing:
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log.ODM_WARNING("Rolling shutter readout time for \"%s %s\" is not in our database, using default of %sms which might be incorrect. Use --rolling-shutter-readout to set an actual value (see https://github.com/OpenDroneMap/RSCalibration for instructions on how to calculate this value)" % (make, model, DEFAULT_RS_READOUT))
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warn_db_missing[key] = True
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return float(DEFAULT_RS_READOUT)
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@ -3,7 +3,7 @@ attrs==20.3.0
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beautifulsoup4==4.9.3
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cloudpickle==1.6.0
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edt==2.0.2
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ExifRead==2.3.2
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ODMExifRead==3.0.3
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Fiona==1.8.17 ; sys_platform == 'linux' or sys_platform == 'darwin'
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https://github.com/OpenDroneMap/windows-deps/raw/main/Fiona-1.8.19-cp38-cp38-win_amd64.whl ; sys_platform == 'win32'
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joblib==0.17.0
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|
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@ -85,7 +85,7 @@ class ODMOpenMVSStage(types.ODM_Stage):
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if not args.pc_geometric:
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config.append("--geometric-iters 0")
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sharp = args.pc_filter > 0
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sharp = args.pc_geometric
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with open(densify_ini_file, 'w+') as f:
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f.write("Optimize = %s\n" % (7 if sharp else 3))
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|
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@ -30,11 +30,12 @@ class ODMOpenSfMStage(types.ODM_Stage):
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octx = OSFMContext(tree.opensfm)
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octx.setup(args, tree.dataset_raw, reconstruction=reconstruction, rerun=self.rerun())
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octx.photos_to_metadata(photos, self.rerun())
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octx.photos_to_metadata(photos, args.rolling_shutter, args.rolling_shutter_readout, self.rerun())
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self.update_progress(20)
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octx.feature_matching(self.rerun())
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self.update_progress(30)
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octx.reconstruct(self.rerun())
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octx.create_tracks(self.rerun())
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octx.reconstruct(args.rolling_shutter, self.rerun())
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octx.extract_cameras(tree.path("cameras.json"), self.rerun())
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self.update_progress(70)
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|
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@ -52,7 +52,7 @@ class ODMSplitStage(types.ODM_Stage):
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]
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octx.setup(args, tree.dataset_raw, reconstruction=reconstruction, append_config=config, rerun=self.rerun())
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octx.photos_to_metadata(photos, self.rerun())
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octx.photos_to_metadata(photos, args.rolling_shutter, args.rolling_shutter_readout, self.rerun())
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self.update_progress(5)
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@ -103,9 +103,11 @@ class ODMSplitStage(types.ODM_Stage):
|
|||
if local_workflow:
|
||||
for sp in submodel_paths:
|
||||
log.ODM_INFO("Reconstructing %s" % sp)
|
||||
OSFMContext(sp).reconstruct(self.rerun())
|
||||
local_sp_octx = OSFMContext(sp)
|
||||
local_sp_octx.create_tracks(self.rerun())
|
||||
local_sp_octx.reconstruct(args.rolling_shutter, self.rerun())
|
||||
else:
|
||||
lre = LocalRemoteExecutor(args.sm_cluster, self.rerun())
|
||||
lre = LocalRemoteExecutor(args.sm_cluster, args.rolling_shutter, self.rerun())
|
||||
lre.set_projects([os.path.abspath(os.path.join(p, "..")) for p in submodel_paths])
|
||||
lre.run_reconstruction()
|
||||
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue