Dense reconstruction POC

Former-commit-id: 11fbc561d6

opendm/osfm.py

@@ -2,7 +2,7 @@
 OpenSfM related utils
 """
 
-import os
+import os, shutil, sys
 from opendm import io
 from opendm import log
 from opendm import system
@@ -47,78 +47,136 @@ def reconstruct(opensfm_project_path, rerun=False):
         raise Exception("Reconstruction could not be generated")
 
 
-def setup(args, images_path, opensfm_path, photos, gcp_path=None, append_config = []):
+def setup(args, images_path, opensfm_path, photos, gcp_path=None, append_config = [], rerun=False):
     """
     Setup a OpenSfM project
     """
+    if rerun and io.dir_exists(opensfm_path):
+        shutil.rmtree(opensfm_path)
+
     if not io.dir_exists(opensfm_path):
         system.mkdir_p(opensfm_path)
 
     # create file list
     list_path = io.join_paths(opensfm_path, 'image_list.txt')
-    has_alt = True
+    if not io.file_exists(list_path) or rerun:
-    with open(list_path, 'w') as fout:
+        has_alt = True
-        for photo in photos:
+        with open(list_path, 'w') as fout:
-            if not photo.altitude:
+            for photo in photos:
-                has_alt = False
+                if not photo.altitude:
-            fout.write('%s\n' % io.join_paths(images_path, photo.filename))
+                    has_alt = False
+                fout.write('%s\n' % io.join_paths(images_path, photo.filename))
 
-            # TODO: does this need to be a relative path?
+                # TODO: does this need to be a relative path?
 
-    # create config file for OpenSfM
+        # create config file for OpenSfM
-    config = [
+        config = [
-        "use_exif_size: no",
+            "use_exif_size: no",
-        "feature_process_size: %s" % args.resize_to,
+            "feature_process_size: %s" % args.resize_to,
-        "feature_min_frames: %s" % args.min_num_features,
+            "feature_min_frames: %s" % args.min_num_features,
-        "processes: %s" % args.max_concurrency,
+            "processes: %s" % args.max_concurrency,
-        "matching_gps_neighbors: %s" % args.matcher_neighbors,
+            "matching_gps_neighbors: %s" % args.matcher_neighbors,
-        "depthmap_method: %s" % args.opensfm_depthmap_method,
+            "depthmap_method: %s" % args.opensfm_depthmap_method,
-        "depthmap_resolution: %s" % args.depthmap_resolution,
+            "depthmap_resolution: %s" % args.depthmap_resolution,
-        "depthmap_min_patch_sd: %s" % args.opensfm_depthmap_min_patch_sd,
+            "depthmap_min_patch_sd: %s" % args.opensfm_depthmap_min_patch_sd,
-        "depthmap_min_consistent_views: %s" % args.opensfm_depthmap_min_consistent_views,
+            "depthmap_min_consistent_views: %s" % args.opensfm_depthmap_min_consistent_views,
-        "optimize_camera_parameters: %s" % ('no' if args.use_fixed_camera_params else 'yes')
+            "optimize_camera_parameters: %s" % ('no' if args.use_fixed_camera_params else 'yes')
-    ]
+        ]
 
-    if has_alt:
+        if has_alt:
-        log.ODM_DEBUG("Altitude data detected, enabling it for GPS alignment")
+            log.ODM_DEBUG("Altitude data detected, enabling it for GPS alignment")
-        config.append("use_altitude_tag: yes")
+            config.append("use_altitude_tag: yes")
-        config.append("align_method: naive")
+            config.append("align_method: naive")
+        else:
+            config.append("align_method: orientation_prior")
+            config.append("align_orientation_prior: vertical")
+
+        if args.use_hybrid_bundle_adjustment:
+            log.ODM_DEBUG("Enabling hybrid bundle adjustment")
+            config.append("bundle_interval: 100")          # Bundle after adding 'bundle_interval' cameras
+            config.append("bundle_new_points_ratio: 1.2")  # Bundle when (new points) / (bundled points) > bundle_new_points_ratio
+            config.append("local_bundle_radius: 1")        # Max image graph distance for images to be included in local bundle adjustment
+
+        if args.matcher_distance > 0:
+            config.append("matching_gps_distance: %s" % args.matcher_distance)
+
+        if gcp_path:
+            config.append("bundle_use_gcp: yes")
+            io.copy(gcp_path, opensfm_path)
+        
+        config = config + append_config
+
+        # write config file
+        log.ODM_DEBUG(config)
+        config_filename = io.join_paths(opensfm_path, 'config.yaml')
+        with open(config_filename, 'w') as fout:
+            fout.write("\n".join(config))
     else:
-        config.append("align_method: orientation_prior")
+        log.ODM_WARNING("%s already exists, not rerunning OpenSfM setup" % list_path)
-        config.append("align_orientation_prior: vertical")
-
-    if args.use_hybrid_bundle_adjustment:
-        log.ODM_DEBUG("Enabling hybrid bundle adjustment")
-        config.append("bundle_interval: 100")          # Bundle after adding 'bundle_interval' cameras
-        config.append("bundle_new_points_ratio: 1.2")  # Bundle when (new points) / (bundled points) > bundle_new_points_ratio
-        config.append("local_bundle_radius: 1")        # Max image graph distance for images to be included in local bundle adjustment
-
-    if args.matcher_distance > 0:
-        config.append("matching_gps_distance: %s" % args.matcher_distance)
-
-    if gcp_path:
-        config.append("bundle_use_gcp: yes")
-        io.copy(gcp_path, opensfm_path)
-    
-    config = config + append_config
-
-    # write config file
-    log.ODM_DEBUG(config)
-    config_filename = io.join_paths(opensfm_path, 'config.yaml')
-    with open(config_filename, 'w') as fout:
-        fout.write("\n".join(config))
 
 def feature_matching(opensfm_project_path, rerun=False):
-    matched_done_file = io.join_paths(opensfm_project_path, 'matching_done.txt')
+    if not feature_matching_done(opensfm_project_path) or rerun:
-    if not io.file_exists(matched_done_file) or rerun:
         run('extract_metadata', opensfm_project_path)
 
         # TODO: distributed workflow should do these two steps independently
         run('detect_features', opensfm_project_path)
         run('match_features', opensfm_project_path)
 
-        with open(matched_done_file, 'w') as fout:
+        mark_feature_matching_done(opensfm_project_path)
-            fout.write("Matching done!\n")
     else:
         log.ODM_WARNING('Found a feature matching done progress file in: %s' %
-                        matched_done_file)
+                        feature_matching_done_file(opensfm_project_path))
+
+def feature_matching_done_file(opensfm_project_path):
+    return io.join_paths(opensfm_project_path, 'matching_done.txt')
+
+def mark_feature_matching_done(opensfm_project_path):
+    with open(feature_matching_done_file(opensfm_project_path), 'w') as fout:
+        fout.write("Matching done!\n")
+
+def feature_matching_done(opensfm_project_path):
+    return io.file_exists(feature_matching_done_file(opensfm_project_path))
+
+def get_submodel_argv(args, submodels_path, submodel_name):
+    """
+    :return the same as argv, but removing references to --split, 
+        setting/replacing --project-path and name
+    """
+    argv = sys.argv
+
+    result = [argv[0]]
+    i = 1
+    project_path_found = False
+    project_name_added = False
+
+    while i < len(argv):
+        arg = argv[i]
+        
+        # Last?
+        if i == len(argv) - 1:
+            # Project name?
+            if arg == args.name:
+                result.append(submodel_name)
+                project_name_added = True
+            else:
+                result.append(arg)
+            i += 1
+        elif arg == '--project-path':
+            result.append(arg)
+            result.append(submodels_path)
+            project_path_found = True
+            i += 2
+        elif arg == '--split':
+            i += 2
+        else:
+            result.append(arg)
+            i += 1
+    
+    if not project_path_found:
+        result.append('--project-path')
+        result.append(submodel_project_path)
+
+    if not project_name_added:
+        result.append(submodel_name)
+    
+    return result

run.py

@@ -36,7 +36,8 @@ if __name__ == '__main__':
                         quote(os.path.join(args.project_path, "odm_25dmeshing")),
                         quote(os.path.join(args.project_path, "odm_25dtexturing")),
                         quote(os.path.join(args.project_path, "mve")),
-                    ]) + "")
+                        quote(os.path.join(args.project_path, "submodels")),
+                    ]))
 
     app = ODMApp(args)
     app.execute()

scripts/run_opensfm.py

@@ -30,14 +30,13 @@ class ODMOpenSfMStage(types.ODM_Stage):
         # check if reconstruction was done before
         # TODO: more granularity for each step (setup/featurematch/reconstruction/etc.)
         
+        osfm.setup(args, tree.dataset_raw, tree.opensfm, photos, gcp_path=tree.odm_georeferencing_gcp, rerun=self.rerun())
+
+        osfm.feature_matching(tree.opensfm, self.rerun())
+
+        osfm.reconstruct(tree.opensfm, self.rerun())
+
         if not io.file_exists(output_file) or self.rerun():
-
-            osfm.setup(args, tree.dataset_raw, tree.opensfm, photos, gcp_path=tree.odm_georeferencing_gcp)
-
-            osfm.feature_matching(tree.opensfm, self.rerun())
-
-            osfm.reconstruction(tree.opensfm, self.rerun())
-
             # Always export VisualSFM's reconstruction and undistort images
             # as we'll use these for texturing (after GSD estimation and resizing)
             if not args.ignore_gsd:

scripts/splitmerge.py

@@ -1,9 +1,11 @@
-import os
+import os, sys
 from opendm import log
 from opendm import osfm
 from opendm import types
 from opendm import io
+from opendm import system
 from opensfm.large import metadataset
+from pipes import quote
 
 class ODMSplitStage(types.ODM_Stage):
     def process(self, args, outputs):
@@ -23,7 +25,7 @@ class ODMSplitStage(types.ODM_Stage):
                 "submodel_overlap: %s" % args.split_overlap,
             ]
             
-            osfm.setup(args, tree.dataset_raw, tree.opensfm, photos, gcp_path=tree.odm_georeferencing_gcp, append_config=config)
+            osfm.setup(args, tree.dataset_raw, tree.opensfm, photos, gcp_path=tree.odm_georeferencing_gcp, append_config=config, rerun=self.rerun())
         
             osfm.feature_matching(tree.opensfm, self.rerun())
 
@@ -50,14 +52,28 @@ class ODMSplitStage(types.ODM_Stage):
 
             for sp in submodel_paths:
                 log.ODM_INFO("Reconstructing %s" % sp)
-                osfm.reconstruct(sp, self.rerun())
+                #osfm.reconstruct(sp, self.rerun())
 
             # Align
             log.ODM_INFO("Aligning submodels...")
-            osfm.run('align_submodels', tree.opensfm)
+            #osfm.run('align_submodels', tree.opensfm)
 
             # Dense reconstruction for each submodel
-            # TODO
+            for sp in submodel_paths:
+
+                # TODO: network workflow
+                
+                # We have already done matching
+                osfm.mark_feature_matching_done(sp)
+                
+                submodel_name = os.path.basename(os.path.abspath(os.path.join(sp, "..")))
+
+                log.ODM_INFO("====================")
+                log.ODM_INFO("Processing %s" % submodel_name)
+                log.ODM_INFO("====================")
+
+                argv = osfm.get_submodel_argv(args, tree.submodels_path, submodel_name)
+                system.run(" ".join(map(quote, argv)), env_vars=os.environ.copy())
 
             exit(1)
         else: