Merge pull request #1551 from pierotofy/300

3.0.0 release

SuperBuild/CMakeLists.txt

@@ -209,7 +209,7 @@ externalproject_add(poissonrecon
 
 externalproject_add(dem2mesh
     GIT_REPOSITORY    https://github.com/OpenDroneMap/dem2mesh.git
-    GIT_TAG           master
+    GIT_TAG           300
     PREFIX            ${SB_BINARY_DIR}/dem2mesh
     SOURCE_DIR        ${SB_SOURCE_DIR}/dem2mesh
     CMAKE_ARGS        -DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}

SuperBuild/cmake/External-OpenMVS.cmake

@@ -53,7 +53,7 @@ ExternalProject_Add(${_proj_name}
   #--Download step--------------
   DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
   GIT_REPOSITORY    https://github.com/OpenDroneMap/openMVS
-  GIT_TAG           291
+  GIT_TAG           300
   #--Update/Patch step----------
   UPDATE_COMMAND    ""
   #--Configure step-------------

VERSION

@@ -1 +1 @@
-2.9.2
+3.0.0

contrib/pc2dem/pc2dem.py

@@ -51,7 +51,6 @@ commands.create_dem(args.point_cloud,
                     outdir=outdir,
                     resolution=args.resolution,
                     decimation=1,
-                    verbose=True,
                     max_workers=multiprocessing.cpu_count(),
                     keep_unfilled_copy=False
                 )

opendm/config.py

@@ -83,15 +83,6 @@ def config(argv=None, parser=None):
                         nargs='?',
                         help='Name of dataset (i.e subfolder name within project folder). Default: %(default)s')
 
-    parser.add_argument('--resize-to',
-                        metavar='<integer>',
-                        action=StoreValue,
-                        default=2048,
-                        type=int,
-                        help='Legacy option (use --feature-quality instead). Resizes images by the largest side for feature extraction purposes only. '
-                             'Set to -1 to disable. This does not affect the final orthophoto '
-                             'resolution quality and will not resize the original images. Default: %(default)s')
-
     parser.add_argument('--end-with', '-e',
                         metavar='<string>',
                         action=StoreValue,
@@ -212,15 +203,6 @@ def config(argv=None, parser=None):
                               'processes. Peak memory requirement is ~1GB per '
                               'thread and 2 megapixel image resolution. Default: %(default)s'))
 
-    parser.add_argument('--depthmap-resolution',
-                        metavar='<positive float>',
-                        action=StoreValue,
-                        type=float,
-                        default=640,
-                        help=('Controls the density of the point cloud by setting the resolution of the depthmap images. Higher values take longer to compute '
-                              'but produce denser point clouds. Overrides the value calculated by --pc-quality.'
-                              'Default: %(default)s'))
-
     parser.add_argument('--use-hybrid-bundle-adjustment',
                         action=StoreTrue,
                         nargs=0,
@@ -414,13 +396,6 @@ def config(argv=None, parser=None):
                         help='Reduce the memory usage needed for depthmap fusion by splitting large scenes into tiles. Turn this on if your machine doesn\'t have much RAM and/or you\'ve set --pc-quality to high or ultra. Experimental. '
                              'Default: %(default)s')
 
-    parser.add_argument('--pc-geometric',
-                        action=StoreTrue,
-                        nargs=0,
-                        default=False,
-                        help='Improve the accuracy of the point cloud by computing geometrically consistent depthmaps. This increases processing time, but can improve results in urban scenes. '
-                             'Default: %(default)s')    
-
     parser.add_argument('--smrf-scalar',
                         metavar='<positive float>',
                         action=StoreValue,
@@ -453,20 +428,6 @@ def config(argv=None, parser=None):
         help='Simple Morphological Filter window radius parameter (meters). '
                 'Default: %(default)s')
 
-    parser.add_argument('--texturing-data-term',
-                        metavar='<string>',
-                        action=StoreValue,
-                        default='gmi',
-                        choices=['gmi', 'area'],
-                        help=('When texturing the 3D mesh, for each triangle, choose to prioritize images with sharp features (gmi) or those that cover the largest area (area). Default: %(default)s'))
-
-    parser.add_argument('--texturing-outlier-removal-type',
-                        metavar='<string>',
-                        action=StoreValue,
-                        default='gauss_clamping',
-                        choices=['none', 'gauss_clamping', 'gauss_damping'],
-                        help=('Type of photometric outlier removal method. Can be one of: %(choices)s. Default: %(default)s'))
-
     parser.add_argument('--texturing-skip-global-seam-leveling',
                         action=StoreTrue,
                         nargs=0,
@@ -486,15 +447,6 @@ def config(argv=None, parser=None):
                         help=('Keep faces in the mesh that are not seen in any camera. '
                               'Default:  %(default)s'))
 
-    parser.add_argument('--texturing-tone-mapping',
-                        metavar='<string>',
-                        action=StoreValue,
-                        choices=['none', 'gamma'],
-                        default='none',
-                        help='Turn on gamma tone mapping or none for no tone '
-                             'mapping. Can be one of %(choices)s. '
-                             'Default: %(default)s ')
-
     parser.add_argument('--gcp',
                         metavar='<path string>',
                         action=StoreValue,
@@ -512,7 +464,7 @@ def config(argv=None, parser=None):
                         action=StoreValue,
                         default=None,
                         help=('Path to the image geolocation file containing the camera center coordinates used for georeferencing. '
-                              'Note that omega/phi/kappa are currently not supported (you can set them to 0). '
+                              'If you don''t have values for omega/phi/kappa you can set them to 0. '
                               'The file needs to '
                               'use the following format: \n'
                               'EPSG:<code> or <+proj definition>\n'
@@ -592,7 +544,7 @@ def config(argv=None, parser=None):
                         default=False,
                         help='Set this parameter if you want a striped GeoTIFF. '
                              'Default: %(default)s')
-    
+
     parser.add_argument('--orthophoto-png',
                         action=StoreTrue,
                         nargs=0,
@@ -606,7 +558,6 @@ def config(argv=None, parser=None):
                         default=False,
                         help='Set this parameter if you want to generate a Google Earth (KMZ) rendering of the orthophoto. '
                              'Default: %(default)s')    
-    
 
     parser.add_argument('--orthophoto-compression',
                         metavar='<string>',
@@ -670,32 +621,11 @@ def config(argv=None, parser=None):
                         default=False,
                         help='Create Cloud-Optimized GeoTIFFs instead of normal GeoTIFFs. Default: %(default)s')
 
-
-    parser.add_argument('--verbose', '-v',
-                        action=StoreTrue,
-                        nargs=0,
-                        default=False,
-                        help='Print additional messages to the console. '
-                             'Default: %(default)s')
-    
     parser.add_argument('--copy-to',
                         metavar='<path>',
                         action=StoreValue,
                         help='Copy output results to this folder after processing.')
 
-    parser.add_argument('--time',
-                        action=StoreTrue,
-                        nargs=0,
-                        default=False,
-                        help='Generates a benchmark file with runtime info. '
-                             'Default: %(default)s')
-    
-    parser.add_argument('--debug',
-                        action=StoreTrue,
-                        nargs=0,
-                        default=False,
-                        help='Print debug messages. Default: %(default)s')
-
     parser.add_argument('--version',
                         action='version',
                         version='ODM {0}'.format(__version__),
@@ -811,7 +741,15 @@ def config(argv=None, parser=None):
                           'If the images have been postprocessed and are already aligned, use this option. '
                           'Default: %(default)s'))
 
-    args = parser.parse_args(argv)
+    args, unknown = parser.parse_known_args(argv)
+    DEPRECATED = ["--verbose", "--debug", "--time", "--resize-to", "--depthmap-resolution", "--pc-geometric", "--texturing-data-term", "--texturing-outlier-removal-type", "--texturing-tone-mapping"]
+    unknown_e = [p for p in unknown if p not in DEPRECATED]
+    if len(unknown_e) > 0:
+        raise parser.error("unrecognized arguments: %s" % " ".join(unknown_e))
+
+    for p in unknown:
+        if p in DEPRECATED:
+            log.ODM_WARNING("%s is no longer a valid argument and will be ignored!" % p)
 
     # check that the project path setting has been set properly
     if not args.project_path:

opendm/dem/commands.py

@@ -35,11 +35,11 @@ except ModuleNotFoundError:
     except:
         pass
 
-def classify(lasFile, scalar, slope, threshold, window, verbose=False):
+def classify(lasFile, scalar, slope, threshold, window):
     start = datetime.now()
 
     try:
-        pdal.run_pdaltranslate_smrf(lasFile, lasFile, scalar, slope, threshold, window, verbose)
+        pdal.run_pdaltranslate_smrf(lasFile, lasFile, scalar, slope, threshold, window)
     except:
         log.ODM_WARNING("Error creating classified file %s" % lasFile)
 
@@ -90,7 +90,7 @@ error = None
 
 def create_dem(input_point_cloud, dem_type, output_type='max', radiuses=['0.56'], gapfill=True,
                 outdir='', resolution=0.1, max_workers=1, max_tile_size=4096,
-                verbose=False, decimation=None, keep_unfilled_copy=False,
+                decimation=None, keep_unfilled_copy=False,
                 apply_smoothing=True):
     """ Create DEM from multiple radii, and optionally gapfill """
     
@@ -187,7 +187,7 @@ def create_dem(input_point_cloud, dem_type, output_type='max', radiuses=['0.56']
             d = pdal.json_add_decimation_filter(d, decimation)
 
         pdal.json_add_readers(d, [input_point_cloud])
-        pdal.run_pipeline(d, verbose=verbose)
+        pdal.run_pipeline(d)
 
     parallel_map(process_tile, tiles, max_workers)
 
@@ -380,5 +380,4 @@ def window_filter_2d(arr, nodata, window, kernel_size, filter):
     win_arr = filter(win_arr)
     win_arr[nodata_locs] = nodata
     win_arr = win_arr[window[0] - expanded_window[0] : window[2] - expanded_window[0], window[1] - expanded_window[1] : window[3] - expanded_window[1]]
-    log.ODM_DEBUG("Filtered window: %s" % str(window))
     return win_arr

opendm/dem/pdal.py

@@ -133,22 +133,13 @@ def json_add_readers(json, filenames):
     return json
 
 
-def json_print(json):
-    """ Pretty print JSON """
-    log.ODM_DEBUG(jsonlib.dumps(json, indent=4, separators=(',', ': ')))
-
-
 """ Run PDAL commands """
 
-def run_pipeline(json, verbose=False):
+def run_pipeline(json):
     """ Run PDAL Pipeline with provided JSON """
-    if verbose:
-        json_print(json)
 
     # write to temp file
     f, jsonfile = tempfile.mkstemp(suffix='.json')
-    if verbose:
-        log.ODM_INFO('Pipeline file: %s' % jsonfile)
     os.write(f, jsonlib.dumps(json).encode('utf8'))
     os.close(f)
 
@@ -157,14 +148,11 @@ def run_pipeline(json, verbose=False):
         'pipeline',
         '-i %s' % double_quote(jsonfile)
     ]
-    if verbose or sys.platform == 'win32':
+    system.run(' '.join(cmd))
-        system.run(' '.join(cmd))
-    else:
-        system.run(' '.join(cmd) + ' > /dev/null 2>&1')
     os.remove(jsonfile)
 
 
-def run_pdaltranslate_smrf(fin, fout, scalar, slope, threshold, window, verbose=False):
+def run_pdaltranslate_smrf(fin, fout, scalar, slope, threshold, window):
     """ Run PDAL translate  """
     cmd = [
         'pdal',
@@ -178,12 +166,9 @@ def run_pdaltranslate_smrf(fin, fout, scalar, slope, threshold, window, verbose=
         '--filters.smrf.window=%s' % window,
     ]
 
-    if verbose:
-        log.ODM_INFO(' '.join(cmd))
-
     system.run(' '.join(cmd))
 
-def merge_point_clouds(input_files, output_file, verbose=False):
+def merge_point_clouds(input_files, output_file):
     if len(input_files) == 0:
         log.ODM_WARNING("Cannot merge point clouds, no point clouds to merge.")
         return
@@ -194,8 +179,5 @@ def merge_point_clouds(input_files, output_file, verbose=False):
         ' '.join(map(double_quote, input_files + [output_file])),
     ]
 
-    if verbose:
-        log.ODM_INFO(' '.join(cmd))
-    
     system.run(' '.join(cmd))
 

opendm/log.py

@@ -43,7 +43,6 @@ def memory():
 
 class ODMLogger:
     def __init__(self):
-        self.show_debug = False
         self.json = None
         self.json_output_file = None
         self.start_time = datetime.datetime.now()
@@ -134,10 +133,6 @@ class ODMLogger:
     def exception(self, msg):
         self.log(FAIL, msg, "EXCEPTION")
 
-    def debug(self, msg):
-        if self.show_debug:
-            self.log(OKGREEN, msg, "DEBUG")
-
     def close(self):
         if self.json is not None and self.json_output_file is not None:
             try:
@@ -154,4 +149,3 @@ ODM_INFO = logger.info
 ODM_WARNING = logger.warning
 ODM_ERROR = logger.error
 ODM_EXCEPTION = logger.exception
-ODM_DEBUG = logger.debug

opendm/mesh.py

@@ -8,7 +8,7 @@ from opendm import concurrency
 from scipy import signal
 import numpy as np
 
-def create_25dmesh(inPointCloud, outMesh, dsm_radius=0.07, dsm_resolution=0.05, depth=8, samples=1, maxVertexCount=100000, verbose=False, available_cores=None, method='gridded', smooth_dsm=True):
+def create_25dmesh(inPointCloud, outMesh, dsm_radius=0.07, dsm_resolution=0.05, depth=8, samples=1, maxVertexCount=100000, available_cores=None, method='gridded', smooth_dsm=True):
     # Create DSM from point cloud
 
     # Create temporary directory
@@ -21,7 +21,7 @@ def create_25dmesh(inPointCloud, outMesh, dsm_radius=0.07, dsm_resolution=0.05,
 
     radius_steps = [dsm_radius]
     for _ in range(2):
-        radius_steps.append(radius_steps[-1] * 2) # 2 is arbitrary
+        radius_steps.append(radius_steps[-1] * math.sqrt(2)) # sqrt(2) is arbitrary
 
     log.ODM_INFO('Creating DSM for 2.5D mesh')
 
@@ -33,20 +33,18 @@ def create_25dmesh(inPointCloud, outMesh, dsm_radius=0.07, dsm_resolution=0.05,
             gapfill=True,
             outdir=tmp_directory,
             resolution=dsm_resolution,
-            verbose=verbose,
             max_workers=available_cores,
             apply_smoothing=smooth_dsm
         )
 
     if method == 'gridded':
-        mesh = dem_to_mesh_gridded(os.path.join(tmp_directory, 'mesh_dsm.tif'), outMesh, maxVertexCount, verbose, maxConcurrency=max(1, available_cores))
+        mesh = dem_to_mesh_gridded(os.path.join(tmp_directory, 'mesh_dsm.tif'), outMesh, maxVertexCount, maxConcurrency=max(1, available_cores))
     elif method == 'poisson':
-        dsm_points = dem_to_points(os.path.join(tmp_directory, 'mesh_dsm.tif'), os.path.join(tmp_directory, 'dsm_points.ply'), verbose)
+        dsm_points = dem_to_points(os.path.join(tmp_directory, 'mesh_dsm.tif'), os.path.join(tmp_directory, 'dsm_points.ply'))
         mesh = screened_poisson_reconstruction(dsm_points, outMesh, depth=depth, 
                                     samples=samples, 
                                     maxVertexCount=maxVertexCount, 
-                                    threads=max(1, available_cores - 1), # poissonrecon can get stuck on some machines if --threads == all cores
+                                    threads=max(1, available_cores - 1)), # poissonrecon can get stuck on some machines if --threads == all cores
-                                    verbose=verbose)
     else:
         raise 'Not a valid method: ' + method
 
@@ -57,14 +55,13 @@ def create_25dmesh(inPointCloud, outMesh, dsm_radius=0.07, dsm_resolution=0.05,
     return mesh
 
 
-def dem_to_points(inGeotiff, outPointCloud, verbose=False):
+def dem_to_points(inGeotiff, outPointCloud):
     log.ODM_INFO('Sampling points from DSM: %s' % inGeotiff)
 
     kwargs = {
         'bin': context.dem2points_path,
         'outfile': outPointCloud,
-        'infile': inGeotiff,
+        'infile': inGeotiff
-        'verbose': '-verbose' if verbose else ''
     }
 
     system.run('"{bin}" -inputFile "{infile}" '
@@ -72,12 +69,12 @@ def dem_to_points(inGeotiff, outPointCloud, verbose=False):
          '-skirtHeightThreshold 1.5 '
          '-skirtIncrements 0.2 '
          '-skirtHeightCap 100 '
-         ' {verbose} '.format(**kwargs))
+         '-verbose '.format(**kwargs))
 
     return outPointCloud
 
 
-def dem_to_mesh_gridded(inGeotiff, outMesh, maxVertexCount, verbose=False, maxConcurrency=1):
+def dem_to_mesh_gridded(inGeotiff, outMesh, maxVertexCount, maxConcurrency=1):
     log.ODM_INFO('Creating mesh from DSM: %s' % inGeotiff)
 
     mesh_path, mesh_filename = os.path.split(outMesh)
@@ -99,8 +96,7 @@ def dem_to_mesh_gridded(inGeotiff, outMesh, maxVertexCount, verbose=False, maxCo
                 'outfile': outMeshDirty,
                 'infile': inGeotiff,
                 'maxVertexCount': maxVertexCount,
-                'maxConcurrency': maxConcurrency,
+                'maxConcurrency': maxConcurrency
-                'verbose': '-verbose' if verbose else ''
             }
             system.run('"{bin}" -inputFile "{infile}" '
                 '-outputFile "{outfile}" '
@@ -108,7 +104,7 @@ def dem_to_mesh_gridded(inGeotiff, outMesh, maxVertexCount, verbose=False, maxCo
                 '-maxVertexCount {maxVertexCount} '
                 '-maxConcurrency {maxConcurrency} '
                 '-edgeSwapThreshold 0.15 '
-                ' {verbose} '.format(**kwargs))
+                '-verbose '.format(**kwargs))
             break
         except Exception as e:
             maxConcurrency = math.floor(maxConcurrency / 2)
@@ -138,7 +134,7 @@ def dem_to_mesh_gridded(inGeotiff, outMesh, maxVertexCount, verbose=False, maxCo
     return outMesh
 
 
-def screened_poisson_reconstruction(inPointCloud, outMesh, depth = 8, samples = 1, maxVertexCount=100000, pointWeight=4, threads=context.num_cores, verbose=False):
+def screened_poisson_reconstruction(inPointCloud, outMesh, depth = 8, samples = 1, maxVertexCount=100000, pointWeight=4, threads=context.num_cores):
 
     mesh_path, mesh_filename = os.path.split(outMesh)
     # mesh_path = path/to
@@ -165,8 +161,7 @@ def screened_poisson_reconstruction(inPointCloud, outMesh, depth = 8, samples =
             'depth': depth,
             'samples': samples,
             'pointWeight': pointWeight,
-            'threads': int(threads),
+            'threads': int(threads)
-            'verbose': '--verbose' if verbose else ''
         }
 
         # Run PoissonRecon
@@ -178,8 +173,7 @@ def screened_poisson_reconstruction(inPointCloud, outMesh, depth = 8, samples =
                     '--samplesPerNode {samples} '
                     '--threads {threads} '
                     '--bType 2 '
-                    '--linearFit '
+                    '--linearFit '.format(**poissonReconArgs))
-                    '{verbose}'.format(**poissonReconArgs))
         except Exception as e:
             log.ODM_WARNING(str(e))
             

opendm/osfm.py

@@ -202,27 +202,22 @@ class OSFMContext:
             # Compute feature_process_size
             feature_process_size = 2048 # default
 
-            if ('resize_to_is_set' in args) and args.resize_to > 0:
+            feature_quality_scale = {
-                # Legacy
+                'ultra': 1,
-                log.ODM_WARNING("Legacy option --resize-to (this might be removed in a future version). Use --feature-quality instead.")
+                'high': 0.5,
-                feature_process_size = int(args.resize_to)
+                'medium': 0.25,
+                'low': 0.125,
+                'lowest': 0.0675,
+            }
+
+            max_dim = find_largest_photo_dim(photos)
+
+            if max_dim > 0:
+                log.ODM_INFO("Maximum photo dimensions: %spx" % str(max_dim))
+                feature_process_size = int(max_dim * feature_quality_scale[args.feature_quality])
+                log.ODM_INFO("Photo dimensions for feature extraction: %ipx" % feature_process_size)
             else:
-                feature_quality_scale = {
+                log.ODM_WARNING("Cannot compute max image dimensions, going with defaults")
-                    'ultra': 1,
-                    'high': 0.5,
-                    'medium': 0.25,
-                    'low': 0.125,
-                    'lowest': 0.0675,
-                }
-
-                max_dim = find_largest_photo_dim(photos)
-
-                if max_dim > 0:
-                    log.ODM_INFO("Maximum photo dimensions: %spx" % str(max_dim))
-                    feature_process_size = int(max_dim * feature_quality_scale[args.feature_quality])
-                    log.ODM_INFO("Photo dimensions for feature extraction: %ipx" % feature_process_size)
-                else:
-                    log.ODM_WARNING("Cannot compute max image dimensions, going with defaults")
 
             # create config file for OpenSfM
             if args.matcher_neighbors > 0:

opendm/photo.py

@@ -166,10 +166,6 @@ class ODM_Photo:
         # parse values from metadata
         self.parse_exif_values(path_file)
 
-        # print log message
-        log.ODM_DEBUG('Loaded {}'.format(self))
-
-
     def __str__(self):
         return '{} | camera: {} {} | dimensions: {} x {} | lat: {} | lon: {} | alt: {} | band: {} ({})'.format(
                             self.filename, self.camera_make, self.camera_model, self.width, self.height, 

opendm/point_cloud.py

@@ -71,7 +71,7 @@ def split(input_point_cloud, outdir, filename_template, capacity, dims=None):
     return [os.path.join(outdir, f) for f in os.listdir(outdir)]
 
 
-def filter(input_point_cloud, output_point_cloud, standard_deviation=2.5, meank=16, sample_radius=0, boundary=None, verbose=False, max_concurrency=1):
+def filter(input_point_cloud, output_point_cloud, standard_deviation=2.5, meank=16, sample_radius=0, boundary=None, max_concurrency=1):
     """
     Filters a point cloud
     """
@@ -82,8 +82,7 @@ def filter(input_point_cloud, output_point_cloud, standard_deviation=2.5, meank=
     args = [
         '--input "%s"' % input_point_cloud,
         '--output "%s"' % output_point_cloud,
-        '--concurrency %s' % max_concurrency,
+        '--concurrency %s' % max_concurrency
-        '--verbose' if verbose else '',
     ]
 
     if sample_radius > 0:

opendm/thermal_tools/dji_unpack.py

@@ -41,7 +41,7 @@ def extract_temperatures_dji(photo, image, dataset_tree):
             except ValueError as e:
                 log.ODM_ERROR("Error during extracting temperature values for file %s : %s" % photo.filename, e)
         else:
-            log.ODM_DEBUG("Only DJI M2EA currently supported, please wait for new updates")
+            log.ODM_WARNING("Only DJI M2EA currently supported, please wait for new updates")
             return image
         # Extract raw sensor values from generated image into numpy array
         raw_sensor_np = np.array(img)

opendm/types.py

@@ -364,8 +364,10 @@ class ODM_Stage:
         if outputs.get('tree') is None:
             raise Exception("Assert violation: tree variable is missing from outputs dictionary.")
 
-        if self.args.time:
+        try:
             system.benchmark(start_time, outputs['tree'].benchmarking, self.name)
+        except Exception as e:
+            log.ODM_WARNING("Cannot write benchmark file: %s" % str(e))
 
         log.ODM_INFO('Finished %s stage' % self.name)
         self.update_progress_end()

opendm/utils.py

@@ -5,37 +5,33 @@ from osgeo import gdal
 from opendm.loghelpers import double_quote
 
 def get_depthmap_resolution(args, photos):
-    if 'depthmap_resolution_is_set' in args:
+    max_dims = find_largest_photo_dims(photos)
-        # Override pc-quality
+    min_dim = 320 # Never go lower than this
-        return int(args.depthmap_resolution)
+
+    if max_dims is not None:
+        w, h = max_dims
+        max_dim = max(w, h)
+
+        megapixels = (w * h) / 1e6
+        multiplier = 1
+        
+        if megapixels < 6:
+            multiplier = 2
+        elif megapixels > 42:
+            multiplier = 0.5
+        
+        pc_quality_scale = {
+            'ultra': 0.5,
+            'high': 0.25,
+            'medium': 0.125,
+            'low': 0.0675,
+            'lowest': 0.03375
+        }
+
+        return max(min_dim, int(max_dim * pc_quality_scale[args.pc_quality] * multiplier))
     else:
-        max_dims = find_largest_photo_dims(photos)
+        log.ODM_WARNING("Cannot compute max image dimensions, going with default depthmap_resolution of 640")
-        min_dim = 320 # Never go lower than this
+        return 640 # Sensible default
-
-        if max_dims is not None:
-            w, h = max_dims
-            max_dim = max(w, h)
-
-            megapixels = (w * h) / 1e6
-            multiplier = 1
-            
-            if megapixels < 6:
-                multiplier = 2
-            elif megapixels > 42:
-                multiplier = 0.5
-            
-            pc_quality_scale = {
-                'ultra': 0.5,
-                'high': 0.25,
-                'medium': 0.125,
-                'low': 0.0675,
-                'lowest': 0.03375
-            }
-
-            return max(min_dim, int(max_dim * pc_quality_scale[args.pc_quality] * multiplier))
-        else:
-            log.ODM_WARNING("Cannot compute max image dimensions, going with default depthmap_resolution of 640")
-            return 640 # Sensible default
 
 def get_raster_stats(geotiff):
     stats = []

stages/dataset.py

@@ -49,12 +49,15 @@ class ODMLoadDatasetStage(types.ODM_Stage):
         tree = types.ODM_Tree(args.project_path, args.gcp, args.geo)
         outputs['tree'] = tree
 
-        if args.time and io.file_exists(tree.benchmarking):
+        if io.file_exists(tree.benchmarking):
             # Delete the previously made file
-            os.remove(tree.benchmarking)
+            try:
-            with open(tree.benchmarking, 'a') as b:
+                os.remove(tree.benchmarking)
-                b.write('ODM Benchmarking file created %s\nNumber of Cores: %s\n\n' % (system.now(), context.num_cores))
+                with open(tree.benchmarking, 'a') as b:
-    
+                    b.write('ODM Benchmarking file created %s\nNumber of Cores: %s\n\n' % (system.now(), context.num_cores))
+            except Exception as e:
+                log.ODM_WARNING("Cannot write benchmark file: %s" % str(e))
+
         # check if the image filename is supported
         def valid_image_filename(filename):
             (pathfn, ext) = os.path.splitext(filename)
@@ -62,7 +65,6 @@ class ODMLoadDatasetStage(types.ODM_Stage):
 
         # Get supported images from dir
         def get_images(in_dir):
-            log.ODM_DEBUG(in_dir)
             entries = os.listdir(in_dir)
             valid, rejects = [], []
             for f in entries:

stages/mvstex.py

@@ -93,12 +93,12 @@ class ODMMvsTexStage(types.ODM_Stage):
                     'bin': context.mvstex_path,
                     'out_dir': os.path.join(r['out_dir'], "odm_textured_model_geo"),
                     'model': r['model'],
-                    'dataTerm': args.texturing_data_term,
+                    'dataTerm': 'gmi',
-                    'outlierRemovalType': args.texturing_outlier_removal_type,
+                    'outlierRemovalType': 'gauss_clamping',
                     'skipGlobalSeamLeveling': skipGlobalSeamLeveling,
                     'skipLocalSeamLeveling': skipLocalSeamLeveling,
                     'keepUnseenFaces': keepUnseenFaces,
-                    'toneMapping': args.texturing_tone_mapping,
+                    'toneMapping': 'none',
                     'nadirMode': nadir,
                     'maxTextureSize': '--max_texture_size=%s' % max_texture_size,
                     'nvm_file': r['nvm_file'],

stages/odm_app.py

@@ -26,17 +26,13 @@ class ODMApp:
         """
         Initializes the application and defines the ODM application pipeline stages
         """
-        if args.debug:
-            log.logger.show_debug = True
-        
         json_log_paths = [os.path.join(args.project_path, "log.json")]
         if args.copy_to:
             json_log_paths.append(args.copy_to)
 
         log.logger.init_json_output(json_log_paths, args)
         
-        dataset = ODMLoadDatasetStage('dataset', args, progress=5.0,
+        dataset = ODMLoadDatasetStage('dataset', args, progress=5.0)
-                                          verbose=args.verbose)
         split = ODMSplitStage('split', args, progress=75.0)
         merge = ODMMergeStage('merge', args, progress=100.0)
         opensfm = ODMOpenSfMStage('opensfm', args, progress=25.0)
@@ -47,15 +43,12 @@ class ODMApp:
                                     oct_tree=max(1, min(14, args.mesh_octree_depth)),
                                     samples=1.0,
                                     point_weight=4.0,
-                                    max_concurrency=args.max_concurrency,
+                                    max_concurrency=args.max_concurrency)
-                                    verbose=args.verbose)
         texturing = ODMMvsTexStage('mvs_texturing', args, progress=70.0)
         georeferencing = ODMGeoreferencingStage('odm_georeferencing', args, progress=80.0,
-                                                    gcp_file=args.gcp,
+                                                    gcp_file=args.gcp)
-                                                    verbose=args.verbose)
         dem = ODMDEMStage('odm_dem', args, progress=90.0,
-                            max_concurrency=args.max_concurrency,
+                            max_concurrency=args.max_concurrency)
-                            verbose=args.verbose)
         orthophoto = ODMOrthoPhotoStage('odm_orthophoto', args, progress=98.0)
         report = ODMReport('odm_report', args, progress=99.0)
         postprocess = ODMPostProcess('odm_postprocess', args, progress=100.0)

stages/odm_dem.py

@@ -1,4 +1,4 @@
-import os, json
+import os, json, math
 from shutil import copyfile
 
 from opendm import io
@@ -58,8 +58,7 @@ class ODMDEMStage(types.ODM_Stage):
                                   args.smrf_scalar, 
                                   args.smrf_slope, 
                                   args.smrf_threshold, 
-                                  args.smrf_window,
+                                  args.smrf_window
-                                  verbose=args.verbose
                                 )
 
                 with open(pc_classify_marker, 'w') as f:
@@ -91,7 +90,7 @@ class ODMDEMStage(types.ODM_Stage):
 
                 radius_steps = [(resolution / 100.0) / 2.0]
                 for _ in range(args.dem_gapfill_steps - 1):
-                    radius_steps.append(radius_steps[-1] * 2) # 2 is arbitrary, maybe there's a better value?
+                    radius_steps.append(radius_steps[-1] * math.sqrt(2)) # sqrt(2) is arbitrary, maybe there's a better value?
 
                 for product in products:
                     commands.create_dem(
@@ -103,7 +102,6 @@ class ODMDEMStage(types.ODM_Stage):
                             outdir=odm_dem_root,
                             resolution=resolution / 100.0,
                             decimation=args.dem_decimation,
-                            verbose=args.verbose,
                             max_workers=args.max_concurrency,
                             keep_unfilled_copy=args.dem_euclidean_map
                         )

stages/odm_filterpoints.py

@@ -53,7 +53,6 @@ class ODMFilterPoints(types.ODM_Stage):
                                 standard_deviation=args.pc_filter, 
                                 sample_radius=args.pc_sample,
                                 boundary=boundary_offset(outputs.get('boundary'), reconstruction.get_proj_offset()),
-                                verbose=args.verbose,
                                 max_concurrency=args.max_concurrency)
             
             # Quick check

stages/odm_meshing.py

@@ -27,9 +27,7 @@ class ODMeshingStage(types.ODM_Stage):
                 samples=self.params.get('samples'),
                 maxVertexCount=self.params.get('max_vertex'),
                 pointWeight=self.params.get('point_weight'),
-                threads=max(1, self.params.get('max_concurrency') - 1), # poissonrecon can get stuck on some machines if --threads == all cores
+                threads=max(1, self.params.get('max_concurrency') - 1)), # poissonrecon can get stuck on some machines if --threads == all cores
-                verbose=self.params.get('verbose'))
-
           else:
               log.ODM_WARNING('Found a valid ODM Mesh file in: %s' %
                               tree.odm_mesh)
@@ -68,7 +66,6 @@ class ODMeshingStage(types.ODM_Stage):
                     depth=self.params.get('oct_tree'),
                     maxVertexCount=self.params.get('max_vertex'),
                     samples=self.params.get('samples'),
-                    verbose=self.params.get('verbose'),
                     available_cores=args.max_concurrency,
                     method='poisson' if args.fast_orthophoto else 'gridded',
                     smooth_dsm=True)

stages/odm_orthophoto.py

@@ -18,7 +18,6 @@ class ODMOrthoPhotoStage(types.ODM_Stage):
     def process(self, args, outputs):
         tree = outputs['tree']
         reconstruction = outputs['reconstruction']
-        verbose = '-verbose' if args.verbose else ''
 
         # define paths and create working directories
         system.mkdir_p(tree.odm_orthophoto)
@@ -42,8 +41,7 @@ class ODMOrthoPhotoStage(types.ODM_Stage):
                 'corners': tree.odm_orthophoto_corners,
                 'res': resolution,
                 'bands': '',
-                'depth_idx': '',
+                'depth_idx': ''
-                'verbose': verbose
             }
 
             models = []
@@ -85,7 +83,7 @@ class ODMOrthoPhotoStage(types.ODM_Stage):
 
             # run odm_orthophoto
             system.run('"{odm_ortho_bin}" -inputFiles {models} '
-                       '-logFile "{log}" -outputFile "{ortho}" -resolution {res} {verbose} '
+                       '-logFile "{log}" -outputFile "{ortho}" -resolution {res} -verbose '
                        '-outputCornerFile "{corners}" {bands} {depth_idx}'.format(**kwargs))
 
             # Create georeferenced GeoTiff

stages/openmvs.py

@@ -77,8 +77,8 @@ class ODMOpenMVSStage(types.ODM_Stage):
             gpu_config = []
             use_gpu = has_gpu(args)
             if use_gpu:
-                # gpu_config.append("--cuda-device -3")
+                gpu_config.append("--cuda-device -3")
-                gpu_config.append("--cuda-device -1")
+                # gpu_config.append("--cuda-device -1")
             else:
                 gpu_config.append("--cuda-device -2")
 
@@ -87,17 +87,13 @@ class ODMOpenMVSStage(types.ODM_Stage):
 
             extra_config = []
             
-            if not args.pc_geometric:
-                extra_config.append("--geometric-iters 0")
-            
             masks_dir = os.path.join(tree.opensfm, "undistorted", "masks")
             masks = os.path.exists(masks_dir) and len(os.listdir(masks_dir)) > 0
             if masks:
                 extra_config.append("--ignore-mask-label 0")
 
-            sharp = args.pc_geometric
             with open(densify_ini_file, 'w+') as f:
-                f.write("Optimize = %s\n" % (7 if sharp else 3))
+                f.write("Optimize = 7\n")
 
             def run_densify():
                 system.run('"%s" "%s" %s' % (context.omvs_densify_path, 
@@ -173,27 +169,22 @@ class ODMOpenMVSStage(types.ODM_Stage):
 
                         try:
                             system.run('"%s" "%s" %s' % (context.omvs_densify_path, sf, ' '.join(config + gpu_config + extra_config)))
-
-                            # Filter
-                            if args.pc_filter > 0:
-                                system.run('"%s" "%s" --filter-point-cloud -1 -v 0 %s' % (context.omvs_densify_path, scene_dense_mvs, ' '.join(gpu_config)))
-                            else:
-                                # Just rename
-                                log.ODM_INFO("Skipped filtering, %s --> %s" % (scene_ply_unfiltered, scene_ply))
-                                os.rename(scene_ply_unfiltered, scene_ply)
                         except:
                             log.ODM_WARNING("Sub-scene %s could not be reconstructed, skipping..." % sf)
 
-                        if not io.file_exists(scene_ply):
+                        if not io.file_exists(scene_ply_unfiltered):
                             scene_ply_files.pop()
                             log.ODM_WARNING("Could not compute PLY for subscene %s" % sf)
+                        else:
+                            # Do not filter
+                            os.rename(scene_ply_unfiltered, scene_ply)
                     else:
                         log.ODM_WARNING("Found existing dense scene file %s" % scene_ply)
 
                 # Merge
                 log.ODM_INFO("Merging %s scene files" % len(scene_ply_files))
                 if len(scene_ply_files) == 0:
-                    log.ODM_ERROR("Could not compute dense point cloud (no PLY files available).")
+                    raise system.ExitException("Could not compute dense point cloud (no PLY files available).")
                 if len(scene_ply_files) == 1:
                     # Simply rename
                     os.replace(scene_ply_files[0], tree.openmvs_model)
@@ -202,32 +193,12 @@ class ODMOpenMVSStage(types.ODM_Stage):
                     # Merge
                     fast_merge_ply(scene_ply_files, tree.openmvs_model)
             else:
-                def skip_filtering():
+                scene_dense_ply = os.path.join(tree.openmvs, 'scene_dense.ply')
-                    # Just rename
+
-                    scene_dense_ply = os.path.join(tree.openmvs, 'scene_dense.ply')
+                if not os.path.exists(scene_dense_ply):
-                    log.ODM_INFO("Skipped filtering, %s --> %s" % (scene_dense_ply, tree.openmvs_model))
+                    raise system.ExitException("Dense reconstruction failed. This could be due to poor georeferencing or insufficient image overlap.")
-                    os.rename(scene_dense_ply, tree.openmvs_model)
+
-                
+                os.rename(scene_dense_ply, tree.openmvs_model)
-                # Filter all at once
-                if args.pc_filter > 0:
-                    if os.path.exists(scene_dense):
-                        config = [
-                            "--filter-point-cloud -1",
-                            '-i "%s"' % scene_dense,
-                            "-v 0"
-                        ]
-                        try:
-                            system.run('"%s" %s' % (context.omvs_densify_path, ' '.join(config + gpu_config + extra_config)))
-                        except system.SubprocessException as e:
-                            if e.errorCode == 137 or e.errorCode == 3221226505:
-                                log.ODM_WARNING("OpenMVS filtering ran out of memory, visibility checks will be skipped.")
-                                skip_filtering()
-                            else:
-                                raise e
-                    else:
-                        raise system.ExitException("Cannot find scene_dense.mvs, dense reconstruction probably failed. Exiting...")
-                else:
-                    skip_filtering()
 
             self.update_progress(95)