kopia lustrzana https://github.com/OpenDroneMap/ODM
Added grass engine, grass-core
Piero Toffanin
rodzic
940efcded9
commit
d1d790024c
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@ -7,7 +7,7 @@ ENV DEBIAN_FRONTEND noninteractive
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RUN apt-get update -y \
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&& apt-get install -y \
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software-properties-common \
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&& add-apt-repository -y ppa:ubuntugis/ppa \
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&& add-apt-repository -y ppa:ubuntugis/ubuntugis-unstable \
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&& add-apt-repository -y ppa:george-edison55/cmake-3.x \
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&& apt-get update -y
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@ -55,7 +55,8 @@ RUN apt-get install --no-install-recommends -y \
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python-pyproj \
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python-software-properties \
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python-wheel \
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swig2.0
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swig2.0 \
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grass-core
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RUN apt-get remove libdc1394-22-dev
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RUN pip install --upgrade pip
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@ -13,9 +13,7 @@ install() {
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## Before installing
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echo "Updating the system"
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apt-get update
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add-apt-repository -y ppa:ubuntugis/ppa
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add-apt-repository -y ppa:ubuntugis/ubuntugis-unstable
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apt-get update
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echo "Installing Required Requisites"
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@ -28,7 +26,8 @@ install() {
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libgeotiff-dev \
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pkg-config \
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libjsoncpp-dev \
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python-gdal
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python-gdal \
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grass-core
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echo "Getting CMake 3.1 for MVS-Texturing"
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apt-get install -y software-properties-common python-software-properties
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@ -0,0 +1,127 @@
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import shutil
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import tempfile
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import subprocess
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import os
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from opendm import log
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from opendm import system
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from string import Template
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class GrassEngine:
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def __init__(self):
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self.grass_binary = system.which('grass7') or \
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system.which('grass72') or \
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system.which('grass74') or \
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system.which('grass76') or \
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system.which('grass78')
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if self.grass_binary is None:
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log.ODM_WARNING("Could not find a GRASS 7 executable. GRASS scripts will not work.")
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else:
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log.ODM_INFO("Initializing GRASS engine using {}".format(self.grass_binary))
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def create_context(self, serialized_context = {}):
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if self.grass_binary is None: raise GrassEngineException("GRASS engine is unavailable")
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return GrassContext(self.grass_binary, **serialized_context)
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class GrassContext:
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def __init__(self, grass_binary, tmpdir = None, template_args = {}, location = None, auto_cleanup=True):
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self.grass_binary = grass_binary
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if tmpdir is None:
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tmpdir = tempfile.mkdtemp('_grass_engine')
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self.tmpdir = tmpdir
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self.template_args = template_args
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self.location = location
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self.auto_cleanup = auto_cleanup
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def get_cwd(self):
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return self.tmpdir
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def add_file(self, filename, source, use_as_location=False):
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param = os.path.splitext(filename)[0] # filename without extension
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dst_path = os.path.abspath(os.path.join(self.get_cwd(), filename))
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with open(dst_path, 'w') as f:
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f.write(source)
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self.template_args[param] = dst_path
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if use_as_location:
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self.set_location(self.template_args[param])
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return dst_path
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def add_param(self, param, value):
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self.template_args[param] = value
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def set_location(self, location):
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"""
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:param location: either a "epsg:XXXXX" string or a path to a geospatial file defining the location
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"""
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if not location.lower().startswith('epsg:'):
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location = os.path.abspath(location)
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self.location = location
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def execute(self, script):
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"""
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:param script: path to .grass script
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:return: script output
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"""
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if self.location is None: raise GrassEngineException("Location is not set")
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script = os.path.abspath(script)
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# Create grass script via template substitution
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try:
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with open(script) as f:
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script_content = f.read()
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except FileNotFoundError:
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raise GrassEngineException("Script does not exist: {}".format(script))
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tmpl = Template(script_content)
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# Write script to disk
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if not os.path.exists(self.get_cwd()):
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os.mkdir(self.get_cwd())
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with open(os.path.join(self.get_cwd(), 'script.sh'), 'w') as f:
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f.write(tmpl.substitute(self.template_args))
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# Execute it
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log.ODM_INFO("Executing grass script from {}: {} -c {} location --exec sh script.sh".format(self.get_cwd(), self.grass_binary, self.location))
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p = subprocess.Popen([self.grass_binary, '-c', self.location, 'location', '--exec', 'sh', 'script.sh'],
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cwd=self.get_cwd(), stdout=subprocess.PIPE, stderr=subprocess.PIPE)
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out, err = p.communicate()
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out = out.decode('utf-8').strip()
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err = err.decode('utf-8').strip()
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if p.returncode == 0:
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return out
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else:
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raise GrassEngineException("Could not execute GRASS script {} from {}: {}".format(script, self.get_cwd(), err))
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def serialize(self):
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return {
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'tmpdir': self.tmpdir,
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'template_args': self.template_args,
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'location': self.location,
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'auto_cleanup': self.auto_cleanup
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}
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def cleanup(self):
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if os.path.exists(self.get_cwd()):
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shutil.rmtree(self.get_cwd())
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def __del__(self):
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if self.auto_cleanup:
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self.cleanup()
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class GrassEngineException(Exception):
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pass
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def cleanup_grass_context(serialized_context):
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ctx = grass.create_context(serialized_context)
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ctx.cleanup()
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grass = GrassEngine()
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@ -81,10 +81,10 @@ def mkdir_p(path):
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if exc.errno != errno.EEXIST or not os.path.isdir(path):
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raise
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def calculate_EPSG(utmZone, south):
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"""Calculate and return the EPSG"""
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if south:
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return 32700 + utmZone
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else:
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return 32600 + utmZone
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# Python2 shutil.which
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def which(program):
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path=os.getenv('PATH')
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for p in path.split(os.path.pathsep):
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p=os.path.join(p,program)
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if os.path.exists(p) and os.access(p,os.X_OK):
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return p
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@ -172,19 +172,6 @@ class ODM_GeoRef(object):
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self.transform = []
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self.gcps = []
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def calculate_EPSG(self, _utm_zone, _pole):
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"""Calculate and return the EPSG"""
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if _pole == 'S':
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return 32700 + _utm_zone
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elif _pole == 'N':
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return 32600 + _utm_zone
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else:
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log.ODM_ERROR('Unknown pole format %s' % _pole)
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return
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def calculate_EPSG(self, proj):
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return proj
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def coord_to_fractions(self, coord, refs):
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deg_dec = abs(float(coord))
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deg = int(deg_dec)
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@ -7,7 +7,7 @@ ENV DEBIAN_FRONTEND noninteractive
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RUN apt-get update -y \
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&& apt-get install -y \
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software-properties-common \
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&& add-apt-repository -y ppa:ubuntugis/ppa \
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&& add-apt-repository -y ppa:ubuntugis/ubuntugis-unstable \
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&& add-apt-repository -y ppa:george-edison55/cmake-3.x \
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&& apt-get update -y
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@ -55,7 +55,8 @@ RUN apt-get install --no-install-recommends -y \
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python-pyproj \
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python-software-properties \
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python-wheel \
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swig2.0
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swig2.0 \
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grass-core
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RUN apt-get remove libdc1394-22-dev
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RUN pip install --upgrade pip
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@ -17,78 +17,89 @@ class ODMSplitStage(types.ODM_Stage):
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outputs['large'] = len(photos) > args.split
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if outputs['large']:
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log.ODM_INFO("Large dataset detected (%s photos) and split set at %s. Preparing split merge." % (len(photos), args.split))
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config = [
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"submodels_relpath: ../submodels/opensfm",
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"submodel_relpath_template: ../submodels/submodel_%04d/opensfm",
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"submodel_images_relpath_template: ../submodels/submodel_%04d/images",
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"submodel_size: %s" % args.split,
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"submodel_overlap: %s" % args.split_overlap,
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]
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osfm.setup(args, tree.dataset_raw, tree.opensfm, photos, gcp_path=tree.odm_georeferencing_gcp, append_config=config, rerun=self.rerun())
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osfm.feature_matching(tree.opensfm, self.rerun())
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split_done_file = os.path.join(tree.opensfm, "split_done.txt")
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# Create submodels
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if not io.dir_exists(tree.submodels_path) or self.rerun():
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if io.dir_exists(tree.submodels_path):
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log.ODM_WARNING("Removing existing submodels directory: %s" % tree.submodels_path)
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shutil.rmtree(tree.submodels_path)
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if not io.file_exists(split_done_file) or self.rerun():
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osfm.run("create_submodels", tree.opensfm)
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else:
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log.ODM_WARNING("Submodels directory already exist at: %s" % tree.submodels_path)
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# TODO: on a network workflow we probably stop here
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# and let NodeODM take over
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# exit(0)
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# Find paths of all submodels
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mds = metadataset.MetaDataSet(tree.opensfm)
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submodel_paths = [os.path.abspath(p) for p in mds.get_submodel_paths()]
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# Reconstruct each submodel
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log.ODM_INFO("Dataset has been split into %s submodels. Reconstructing each submodel..." % len(submodel_paths))
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for sp in submodel_paths:
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log.ODM_INFO("Reconstructing %s" % sp)
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osfm.reconstruct(sp, self.rerun())
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# Align
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alignment_file = io.join_paths(tree.opensfm, 'alignment_done.txt')
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if not io.file_exists(alignment_file) or self.rerun():
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log.ODM_INFO("Aligning submodels...")
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osfm.run('align_submodels', tree.opensfm)
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with open(alignment_file, 'w') as fout:
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fout.write("Alignment done!\n")
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else:
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log.ODM_WARNING('Found a alignment matching done progress file in: %s' % alignment_file)
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# Dense reconstruction for each submodel
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for sp in submodel_paths:
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# TODO: network workflow
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log.ODM_INFO("Large dataset detected (%s photos) and split set at %s. Preparing split merge." % (len(photos), args.split))
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config = [
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"submodels_relpath: ../submodels/opensfm",
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"submodel_relpath_template: ../submodels/submodel_%04d/opensfm",
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"submodel_images_relpath_template: ../submodels/submodel_%04d/images",
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"submodel_size: %s" % args.split,
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"submodel_overlap: %s" % args.split_overlap,
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]
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# We have already done matching
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osfm.mark_feature_matching_done(sp)
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osfm.setup(args, tree.dataset_raw, tree.opensfm, photos, gcp_path=tree.odm_georeferencing_gcp, append_config=config, rerun=self.rerun())
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osfm.feature_matching(tree.opensfm, self.rerun())
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submodel_name = os.path.basename(os.path.abspath(os.path.join(sp, "..")))
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# Create submodels
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if not io.dir_exists(tree.submodels_path) or self.rerun():
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if io.dir_exists(tree.submodels_path):
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log.ODM_WARNING("Removing existing submodels directory: %s" % tree.submodels_path)
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shutil.rmtree(tree.submodels_path)
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log.ODM_INFO("========================")
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log.ODM_INFO("Processing %s" % submodel_name)
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log.ODM_INFO("========================")
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osfm.run("create_submodels", tree.opensfm)
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else:
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log.ODM_WARNING("Submodels directory already exist at: %s" % tree.submodels_path)
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# TODO: on a network workflow we probably stop here
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# and let NodeODM take over
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# exit(0)
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argv = osfm.get_submodel_argv(args, tree.submodels_path, submodel_name)
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# Find paths of all submodels
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mds = metadataset.MetaDataSet(tree.opensfm)
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submodel_paths = [os.path.abspath(p) for p in mds.get_submodel_paths()]
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# Re-run the ODM toolchain on the submodel
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system.run(" ".join(map(quote, argv)), env_vars=os.environ.copy())
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# Reconstruct each submodel
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log.ODM_INFO("Dataset has been split into %s submodels. Reconstructing each submodel..." % len(submodel_paths))
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for sp in submodel_paths:
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log.ODM_INFO("Reconstructing %s" % sp)
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osfm.reconstruct(sp, self.rerun())
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# Align
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alignment_file = io.join_paths(tree.opensfm, 'alignment_done.txt')
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if not io.file_exists(alignment_file) or self.rerun():
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log.ODM_INFO("Aligning submodels...")
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osfm.run('align_submodels', tree.opensfm)
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with open(alignment_file, 'w') as fout:
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fout.write("Alignment done!\n")
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else:
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log.ODM_WARNING('Found a alignment matching done progress file in: %s' % alignment_file)
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# Dense reconstruction for each submodel
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for sp in submodel_paths:
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# TODO: network workflow
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# We have already done matching
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osfm.mark_feature_matching_done(sp)
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submodel_name = os.path.basename(os.path.abspath(os.path.join(sp, "..")))
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log.ODM_INFO("========================")
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log.ODM_INFO("Processing %s" % submodel_name)
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log.ODM_INFO("========================")
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argv = osfm.get_submodel_argv(args, tree.submodels_path, submodel_name)
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# Re-run the ODM toolchain on the submodel
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system.run(" ".join(map(quote, argv)), env_vars=os.environ.copy())
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with open(split_done_file, 'w') as fout:
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fout.write("Split done!\n")
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else:
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log.ODM_WARNING('Found a split done file in: %s' % split_done_file)
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else:
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log.ODM_INFO("Normal dataset, will process all at once.")
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class ODMMergeStage(types.ODM_Stage):
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def process(self, args, outputs):
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from opendm import grass_engine
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tree = outputs['tree']
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reconstruction = outputs['reconstruction']
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