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OpenDroneMap-ODM
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Merged origin/master

pull/1239/head
Piero Toffanin 2021-03-05 10:26:05 -05:00
rodzic bb0dfc1243 84774703d5
commit cf259688fe
5 zmienionych plików z 136 dodań i 23 usunięć
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14
README.md
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@ -216,6 +216,20 @@ If you have questions, join the developer's chat at https://community.opendronem
2. Submit a pull request with detailed changes and test results
3. Have fun!
### Credits
ODM makes use of [several libraries](https://github.com/OpenDroneMap/ODM/blob/master/snap/snapcraft.yaml#L36) and other awesome open source projects to perform its tasks. Among them we'd like to highlight:
- [OpenSfM](https://github.com/mapillary/OpenSfM)
- [OpenMVS](https://github.com/cdcseacave/openMVS/)
- [PDAL](https://github.com/PDAL/PDAL)
- [Entwine](https://entwine.io/)
- [MVS Texturing](https://github.com/nmoehrle/mvs-texturing)
- [GRASS GIS](https://grass.osgeo.org/)
- [GDAL](https://gdal.org/)
- [PoissonRecon](https://github.com/mkazhdan/PoissonRecon)
### Citation
> *OpenDroneMap Authors* ODM - A command line toolkit to generate maps, point clouds, 3D models and DEMs from drone, balloon or kite images. **OpenDroneMap/ODM GitHub Page** 2020; [https://github.com/OpenDroneMap/ODM](https://github.com/OpenDroneMap/ODM)

2
SuperBuild/cmake/External-OpenMVS.cmake
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@ -20,7 +20,7 @@ ExternalProject_Add(${_proj_name}
#--Download step--------------
DOWNLOAD_DIR ${SB_DOWNLOAD_DIR}
GIT_REPOSITORY https://github.com/OpenDroneMap/openMVS
GIT_TAG 240
GIT_TAG 244
#--Update/Patch step----------
UPDATE_COMMAND ""
#--Configure step-------------

4
VERSION
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@ -1 +1,5 @@
<<<<<<< HEAD
2.4.6
=======
2.4.5
>>>>>>> origin/master

9
opendm/config.py
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@ -354,7 +354,14 @@ def config(argv=None, parser=None):
action=StoreValue,
type=float,
default=0,
help='Filters the point cloud by keeping only a single point around a radius N (in meters). This can be useful to limit the output resolution of the point cloud. Set to 0 to disable sampling. '
help='Filters the point cloud by keeping only a single point around a radius N (in meters). This can be useful to limit the output resolution of the point cloud and remove duplicate points. Set to 0 to disable sampling. '
'Default: %(default)s')
parser.add_argument('--pc-tile',
action=StoreTrue,
nargs=0,
default=False,
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('--smrf-scalar',

130
stages/openmvs.py
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@ -9,6 +9,7 @@ from opendm import types
from opendm.utils import get_depthmap_resolution
from opendm.osfm import OSFMContext
from opendm.multispectral import get_primary_band_name
from opendm.point_cloud import fast_merge_ply
class ODMOpenMVSStage(types.ODM_Stage):
def process(self, args, outputs):
@ -23,17 +24,26 @@ class ODMOpenMVSStage(types.ODM_Stage):
# check if reconstruction was done before
if not io.file_exists(tree.openmvs_model) or self.rerun():
if io.dir_exists(tree.openmvs):
shutil.rmtree(tree.openmvs)
if self.rerun():
if io.dir_exists(tree.openmvs):
shutil.rmtree(tree.openmvs)
# export reconstruction from opensfm
octx = OSFMContext(tree.opensfm)
cmd = 'export_openmvs'
octx.run(cmd)
openmvs_scene_file = os.path.join(tree.openmvs, "scene.mvs")
if not io.file_exists(openmvs_scene_file) or self.rerun():
octx = OSFMContext(tree.opensfm)
cmd = 'export_openmvs'
octx.run(cmd)
else:
log.ODM_WARNING("Found existing %s" % openmvs_scene_file)
self.update_progress(10)
depthmaps_dir = os.path.join(tree.openmvs, "depthmaps")
if io.dir_exists(depthmaps_dir) and self.rerun():
shutil.rmtree(depthmaps_dir)
if not io.dir_exists(depthmaps_dir):
os.mkdir(depthmaps_dir)
@ -43,6 +53,14 @@ class ODMOpenMVSStage(types.ODM_Stage):
else:
resolution_level = int(round(math.log(outputs['undist_image_max_size'] / float(depthmap_resolution)) / math.log(2)))
log.ODM_INFO("Running dense reconstruction. This might take a while.")
log.ODM_INFO("Estimating depthmaps")
densify_ini_file = os.path.join(tree.openmvs, 'config.ini')
with open(densify_ini_file, 'w+') as f:
f.write("Optimize = 0\n") # Disable depth-maps re-filtering
config = [
" --resolution-level %s" % int(resolution_level),
"--min-resolution %s" % depthmap_resolution,
@ -50,31 +68,101 @@ class ODMOpenMVSStage(types.ODM_Stage):
"--max-threads %s" % args.max_concurrency,
"--number-views-fuse 2",
'-w "%s"' % depthmaps_dir,
"-v 0",
"-v 0"
]
log.ODM_INFO("Running dense reconstruction. This might take a while.")
# TODO: add support for image masks
if args.pc_tile:
config.append("--fusion-mode 1")
system.run('%s "%s" %s' % (context.omvs_densify_path,
os.path.join(tree.openmvs, 'scene.mvs'),
openmvs_scene_file,
' '.join(config)))
self.update_progress(85)
files_to_remove = []
# Filter points
scene_dense = os.path.join(tree.openmvs, 'scene_dense.mvs')
if os.path.exists(scene_dense):
if args.pc_tile:
log.ODM_INFO("Computing sub-scenes")
config = [
"--filter-point-cloud -1",
'-i "%s"' % scene_dense,
"-v 0"
"--sub-scene-area 660000",
"--max-threads %s" % args.max_concurrency,
'-w "%s"' % depthmaps_dir,
"-v 0",
]
system.run('%s %s' % (context.omvs_densify_path, ' '.join(config)))
system.run('%s "%s" %s' % (context.omvs_densify_path,
openmvs_scene_file,
' '.join(config)))
scene_files = glob.glob(os.path.join(tree.openmvs, "scene_[0-9][0-9][0-9][0-9].mvs"))
if len(scene_files) == 0:
log.ODM_ERROR("No OpenMVS scenes found. This could be a bug, or the reconstruction could not be processed.")
exit(1)
log.ODM_INFO("Fusing depthmaps for %s scenes" % len(scene_files))
scene_ply_files = []
for sf in scene_files:
p, _ = os.path.splitext(sf)
scene_ply = p + "_dense_dense_filtered.ply"
scene_dense_mvs = p + "_dense.mvs"
files_to_remove += [scene_ply, sf, scene_dense_mvs]
scene_ply_files.append(scene_ply)
if not io.file_exists(scene_ply) or self.rerun():
# Fuse
config = [
'--resolution-level %s' % int(resolution_level),
'--min-resolution %s' % depthmap_resolution,
'--max-resolution %s' % int(outputs['undist_image_max_size']),
'--dense-config-file "%s"' % densify_ini_file,
'--number-views-fuse 2',
'--max-threads %s' % args.max_concurrency,
'-w "%s"' % depthmaps_dir,
'-v 0',
]
try:
system.run('%s "%s" %s' % (context.omvs_densify_path, sf, ' '.join(config)))
# Filter
system.run('%s "%s" --filter-point-cloud -1 -v 0' % (context.omvs_densify_path, scene_dense_mvs))
except:
log.ODM_WARNING("Sub-scene %s could not be reconstructed, skipping..." % sf)
if not io.file_exists(scene_ply):
scene_ply_files.pop()
log.ODM_WARNING("Could not compute PLY for subscene %s" % sf)
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).")
if len(scene_ply_files) == 1:
# Simply rename
os.rename(scene_ply_files[0], tree.openmvs_model)
log.ODM_INFO("%s --> %s"% (scene_ply_files[0], tree.openmvs_model))
else:
# Merge
fast_merge_ply(scene_ply_files, tree.openmvs_model)
else:
log.ODM_WARNING("Cannot find scene_dense.mvs, dense reconstruction probably failed. Exiting...")
exit(1)
# Filter all at once
scene_dense = os.path.join(tree.openmvs, 'scene_dense.mvs')
if os.path.exists(scene_dense):
config = [
"--filter-point-cloud -1",
'-i "%s"' % scene_dense,
"-v 0"
]
system.run('%s %s' % (context.omvs_densify_path, ' '.join(config)))
else:
log.ODM_WARNING("Cannot find scene_dense.mvs, dense reconstruction probably failed. Exiting...")
exit(1)
# TODO: add support for image masks
self.update_progress(95)
@ -84,7 +172,7 @@ class ODMOpenMVSStage(types.ODM_Stage):
os.path.join(tree.openmvs, 'scene_dense_dense_filtered.mvs'),
octx.path("undistorted", "tracks.csv"),
octx.path("undistorted", "reconstruction.json")
]
] + files_to_remove
for f in files:
if os.path.exists(f):
os.remove(f)