From cafc98917cb6bd06cd3e3cfcc218f425149aeb60 Mon Sep 17 00:00:00 2001
From: Pau Gargallo <pau.gargallo@gmail.com>
Date: Thu, 4 Feb 2016 14:35:15 +0100
Subject: [PATCH] Rerun slam only when required

---
 modules/odm_slam/src/OdmSlam.cpp |  4 ---
 opendm/config.py                 |  2 +-
 scripts/odm_slam.py              | 54 +++++++++++++++++++-------------
 3 files changed, 34 insertions(+), 26 deletions(-)

diff --git a/modules/odm_slam/src/OdmSlam.cpp b/modules/odm_slam/src/OdmSlam.cpp
index dce6df3f..c48e9f2a 100644
--- a/modules/odm_slam/src/OdmSlam.cpp
+++ b/modules/odm_slam/src/OdmSlam.cpp
@@ -30,11 +30,7 @@ int main(int argc, char **argv) {
         cap >> im;
         if(im.empty()) break;
 
-        // Save 
         double timestamp = ni * T;
-        keyframe_timestamps << ni << " " << timestamp << std::endl;
-
-
 
         SLAM.TrackMonocular(im, timestamp);
 
diff --git a/opendm/config.py b/opendm/config.py
index a25c9705..02c40855 100644
--- a/opendm/config.py
+++ b/opendm/config.py
@@ -1,7 +1,7 @@
 import argparse
 
 # parse arguments
-processopts = ['resize', 'opensfm', 'cmvs', 'pmvs',
+processopts = ['resize', 'opensfm', 'slam', 'cmvs', 'pmvs',
                'odm_meshing', 'odm_texturing', 'odm_georeferencing',
                'odm_orthophoto']
 
diff --git a/scripts/odm_slam.py b/scripts/odm_slam.py
index e2988240..2f1feafb 100644
--- a/scripts/odm_slam.py
+++ b/scripts/odm_slam.py
@@ -37,29 +37,42 @@ class ODMSlamCell(ecto.Cell):
 
         vocabulary = os.path.join(context.orb_slam2_path, 'Vocabulary/ORBvoc.txt')
         orb_slam_cmd = os.path.join(context.odm_modules_path, 'odm_slam')
+        trajectory = os.path.join(tree.opensfm, 'KeyFrameTrajectory.txt')
 
-        # run slam binary
-        # system.run(' '.join([
-        #     'cd {} &&'.format(tree.opensfm),
-        #     orb_slam_cmd,
-        #     vocabulary,
-        #     slam_config,
-        #     video,
-        # ]))
+        # check if we rerun cell or not
+        rerun_cell = args['rerun'] == 'slam'
 
-        system.run(' '.join([
-            'cd {} &&'.format(tree.opensfm),
-            'PYTHONPATH={}:{}'.format(context.pyopencv_path, context.opensfm_path),
-            'python',
-            os.path.join(context.odm_modules_src_path, 'odm_slam/src/orb_slam_to_opensfm.py'),
-            video,
-            os.path.join(tree.opensfm, 'KeyFrameTrajectory.txt'),
-            slam_config,
-        ]))
+        # check if slam was run before
+        if not io.file_exists(trajectory) or rerun_cell:
+            # run slam binary
+            system.run(' '.join([
+                'cd {} &&'.format(tree.opensfm),
+                orb_slam_cmd,
+                vocabulary,
+                slam_config,
+                video,
+            ]))
+        else:
+            log.ODM_WARNING('Found a valid slam trajectory in: {}'.format(
+                trajectory))
 
+        # check if trajectory was exported to opensfm before
+        if not io.file_exists(tree.opensfm_reconstruction) or rerun_cell:
+            # convert slam to opensfm
+            system.run(' '.join([
+                'cd {} &&'.format(tree.opensfm),
+                'PYTHONPATH={}:{}'.format(context.pyopencv_path, context.opensfm_path),
+                'python',
+                os.path.join(context.odm_modules_src_path, 'odm_slam/src/orb_slam_to_opensfm.py'),
+                video,
+                trajectory,
+                slam_config,
+            ]))
+        else:
+            log.ODM_WARNING('Found a valid OpenSfm file in: {}'.format(
+                tree.opensfm_reconstruction))
 
-        ### check if reconstruction was exported to bundler before
-
+        # check if reconstruction was exported to bundler before
         if not io.file_exists(tree.opensfm_bundle_list) or rerun_cell:
             # convert back to bundler's format
             system.run('PYTHONPATH=%s %s/bin/export_bundler %s' %
@@ -69,8 +82,7 @@ class ODMSlamCell(ecto.Cell):
                 (tree.opensfm_reconstruction))
 
 
-        ### check if reconstruction was exported to pmvs before
-
+        # 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' %