Added max_vertex_25d parameter, added TBB library support for parallel execution, cleanup

Former-commit-id: 05d2b3269f

modules/odm_25dmeshing/CMakeLists.txt

@@ -22,6 +22,13 @@ if ( CGAL_FOUND )
 
   include( ${CGAL_USE_FILE} )
 
+  find_package( TBB )
+  if( TBB_FOUND )
+    include(${TBB_USE_FILE})
+  else()
+    message(WARNING "TBB not found, parallel processing will be disabled.")
+  endif()
+
   # Add compiler options.
   add_definitions(-Wall -Wextra -std=c++11)
 	
@@ -31,7 +38,7 @@ if ( CGAL_FOUND )
   # Add exectuteable
   add_executable(${PROJECT_NAME} ${SRC_LIST})
 	
-  target_link_libraries(odm_25dmeshing ${CGAL_LIBRARIES})
+  target_link_libraries(odm_25dmeshing ${CGAL_LIBRARIES} ${TBB_LIBRARIES})
 else()
   
     message(FATAL_ERROR "This program requires the CGAL library, and will not be compiled.")

modules/odm_25dmeshing/src/Odm25dMeshing.cpp

@@ -24,16 +24,13 @@ int Odm25dMeshing::run(int argc, char **argv) {
 	}
 
 	try {
+
 		parseArguments(argc, argv);
 
 		loadPointCloud();
 
 		buildMesh();
 
-		log << "Done!" << "\n";
-
-		// TODO
-
 	} catch (const Odm25dMeshingException& e) {
 		log.setIsPrintingInCout(true);
 		log << e.what() << "\n";
@@ -61,6 +58,7 @@ void Odm25dMeshing::parseArguments(int argc, char **argv) {
 
 		if (argument == "-help") {
 			printHelp();
+			exit(0);
 		} else if (argument == "-verbose") {
 			log.setIsPrintingInCout(true);
 		} else if (argument == "-maxVertexCount" && argIndex < argc) {
@@ -149,11 +147,14 @@ void Odm25dMeshing::loadPointCloud(){
 		  				"Error when reading points and normals from:\n" + inputFile + "\n");
 	  }
 
+	  flipFaces = interpreter.flip_faces();
+
 	  log << "Successfully loaded " << points.size() << " points from file\n";
 }
 
 void Odm25dMeshing::buildMesh(){
 	size_t pointCountBeforeOutRemoval = points.size();
+
 	if (outliersRemovalPercentage > 0)
 	log << "Removing outliers\n";
 
@@ -232,9 +233,15 @@ void Odm25dMeshing::buildMesh(){
 	}
 
 	for (DT::Face_iterator face = dt.faces_begin(); face != dt.faces_end(); ++face) {
-		vertexIndicies.push_back(face->vertex(0)->info());
-		vertexIndicies.push_back(face->vertex(1)->info());
-		vertexIndicies.push_back(face->vertex(2)->info());
+		if (flipFaces){
+			vertexIndicies.push_back(face->vertex(2)->info());
+			vertexIndicies.push_back(face->vertex(1)->info());
+			vertexIndicies.push_back(face->vertex(0)->info());
+		}else{
+			vertexIndicies.push_back(face->vertex(0)->info());
+			vertexIndicies.push_back(face->vertex(1)->info());
+			vertexIndicies.push_back(face->vertex(2)->info());
+		}
 	}
 
 	log << "Saving mesh to file.\n";
@@ -245,7 +252,7 @@ void Odm25dMeshing::buildMesh(){
 
 	tinyply::PlyFile plyFile;
 	plyFile.add_properties_to_element("vertex", {"x", "y", "z"}, vertices);
-	plyFile.add_properties_to_element("face", { "vertex_index" }, vertexIndicies, 3, tinyply::PlyProperty::Type::INT8);
+	plyFile.add_properties_to_element("face", { "vertex_index" }, vertexIndicies, 3, tinyply::PlyProperty::Type::UINT8);
 
 	plyFile.write(outputStream, false);
 	fb.close();

modules/odm_25dmeshing/src/Odm25dMeshing.hpp

@@ -65,6 +65,7 @@ private:
 	double outliersRemovalPercentage = 2;
 	unsigned int wlopIterations = 35;
 	std::vector<Pwn> points;
+	bool flipFaces = false;
 };
 
 class Odm25dMeshingException: public std::exception {

modules/odm_25dmeshing/src/PlyInterpreter.cpp

@@ -25,5 +25,11 @@ void PlyInterpreter::process_line(CGAL::Ply_reader& reader) {
 	Point3 p(x, y, z);
 	Vector3 n(nx, ny, nz);
 
+	zNormalsDirectionCount += nz >= 0 ? 1 : -1;
+
 	points.push_back(std::make_pair(p, n));
 }
+
+bool PlyInterpreter::flip_faces(){
+	return zNormalsDirectionCount < 0;
+}

modules/odm_25dmeshing/src/PlyInterpreter.hpp

@@ -19,11 +19,13 @@ typedef std::pair<Point3, Vector3> Pwn;
 
 class PlyInterpreter {
 	std::vector<Pwn>& points;
+	int zNormalsDirectionCount;
 
 	public:
 	 PlyInterpreter (std::vector<Pwn>& points)
-	    : points (points)
+	    : points (points), zNormalsDirectionCount(0)
 	  { }
 	  bool is_applicable (CGAL::Ply_reader& reader);
 	  void process_line (CGAL::Ply_reader& reader);
+	  bool flip_faces();
 };

opendm/config.py

@@ -252,6 +252,16 @@ def config():
                               'times slightly but helps reduce memory usage. '
                               'Default: %(default)s'))
 
+    parser.add_argument('--25d-mesh-size',
+                        metavar='<positive integer>',
+                        default=50000,
+                        type=int,
+                        help=('The maximum vertex count of the 2.5D output mesh '
+                              'Smaller values produce smoother orthophotos but '
+                              'could introduce distortion '
+                              'Applies to 2.5D mesh only. '
+                              'Default: %(default)s'))
+
     parser.add_argument('--mesh-remove-outliers',
                         metavar='<percent>',
                         default=2,

opendm/tasks.py

@@ -13,7 +13,6 @@ tasks_dict = {'1': 'resize',
               '3': 'cmvs',
               '4': 'pmvs',
               '5': 'odm_meshing',
-#              '6': 'odm_texturing',
               '6': 'mvs_texturing',
               '7': 'odm_georeferencing',
               '8': 'odm_orthophoto',

scripts/odm_app.py

@@ -13,7 +13,6 @@ from odm_slam import ODMSlamCell
 from pmvs import ODMPmvsCell
 from cmvs import ODMCmvsCell
 from odm_meshing import ODMeshingCell
-#from odm_texturing import ODMTexturingCell
 from mvstex import ODMMvsTexCell
 from odm_georeferencing import ODMGeoreferencingCell
 from odm_orthophoto import ODMOrthoPhotoCell
@@ -59,6 +58,7 @@ class ODMApp(ecto.BlackBox):
                                           oct_tree=p.args.mesh_octree_depth,
                                           samples=p.args.mesh_samples,
                                           solver=p.args.mesh_solver_divide,
+                                          max_vertex_25d=getattr(p.args, '25d_mesh_size'),
                                           remove_outliers=p.args.mesh_remove_outliers,
                                           wlop_iterations=p.args.mesh_wlop_iterations,
                                           verbose=p.args.verbose),

scripts/odm_meshing.py

@@ -20,6 +20,7 @@ class ODMeshingCell(ecto.Cell):
                                  'Increasing this value increases computation '
                                  'times slightly but helps reduce memory usage.', 9)
 
+        params.declare("max_vertex_25d", 'The maximum vertex count of the 2.5D output mesh.', 50000)
         params.declare("remove_outliers", 'Percentage of outliers to remove from the point set. Set to 0 to disable. '
                                           'Applies to 2.5D mesh only.', 2)
         
@@ -96,7 +97,7 @@ class ODMeshingCell(ecto.Cell):
                   'infile': infile,
                   'log': tree.odm_25dmeshing_log,
                   'verbose': verbose,
-                  'max_vertex': self.params.max_vertex,
+                  'max_vertex': self.params.max_vertex_25d,
                   'remove_outliers': self.params.remove_outliers,
                   'wlop_iterations': self.params.wlop_iterations
               }