Fast PLY merge, parallel filtering

Former-commit-id: 2cd0f588ac

opendm/concurrency.py

@@ -1,5 +1,12 @@
 from psutil import virtual_memory
 import os
+try:
+    import Queue as queue
+except:
+    import queue
+import threading
+import time
+from opendm import log
 
 def get_max_memory(minimum = 5, use_at_most = 0.5):
     """
@@ -16,3 +23,75 @@ def get_max_memory_mb(minimum = 100, use_at_most = 0.5):
     :return value of memory to use in megabytes.
     """
     return max(minimum, (virtual_memory().available / 1024 / 1024) * use_at_most)
+
+def parallel_map(func, items, max_workers=1):
+    """
+    Our own implementation for parallel processing
+    which handles gracefully CTRL+C and reverts to 
+    single thread processing in case of errors
+    :param items list of objects
+    :param func function to execute on each object
+    """
+    global error
+    error = None
+
+    def process_one(q):
+        func(q)
+
+    def worker():
+        global error
+
+        while True:
+            (num, q) = pq.get()
+            if q is None or error is not None:
+                pq.task_done()
+                break
+
+            try:
+                process_one(q)
+            except Exception as e:
+                error = e
+            finally:
+                pq.task_done()
+
+    if max_workers > 1:
+        use_single_thread = False
+        pq = queue.PriorityQueue()
+        threads = []
+        for i in range(max_workers):
+            t = threading.Thread(target=worker)
+            t.start()
+            threads.append(t)
+
+        for t in items:
+            pq.put((i, t.copy()))
+
+        def stop_workers():
+            for i in range(len(threads)):
+                pq.put((-1, None))
+            for t in threads:
+                t.join()
+
+        # block until all tasks are done
+        try:
+            while pq.unfinished_tasks > 0:
+                time.sleep(0.5)
+        except KeyboardInterrupt:
+            print("CTRL+C terminating...")
+            stop_workers()
+            sys.exit(1)
+
+        stop_workers()
+
+        if error is not None:
+            # Try to reprocess using a single thread
+            # in case this was a memory error
+            log.ODM_WARNING("Failed to run process in parallel, retrying with a single thread...")
+            use_single_thread = True
+    else:
+        use_single_thread = True
+
+    if use_single_thread:
+        # Boring, single thread processing
+        for q in items:
+            process_one(q)

opendm/dem/commands.py

@@ -80,6 +80,9 @@ def create_dem(input_point_cloud, dem_type, output_type='max', radiuses=['0.56']
                 verbose=False, decimation=None, keep_unfilled_copy=False,
                 apply_smoothing=True):
     """ Create DEM from multiple radii, and optionally gapfill """
+    
+    # TODO: refactor to use concurrency.parallel_map
+    
     global error
     error = None
 

opendm/point_cloud.py

@@ -5,6 +5,7 @@ from opendm import context
 from opendm.system import run
 from opendm import entwine
 from opendm import io
+from opendm.concurrency import parallel_map
 from pipes import quote
 
 def ply_info(input_ply):
@@ -18,7 +19,7 @@ def ply_info(input_ply):
     with open(input_ply, 'r') as f:
         line = f.readline().strip().lower()
         i = 0
-        while line != "end_header" and i < 100:
+        while line != "end_header":
             line = f.readline().strip().lower()
             props = line.split(" ")
             if len(props) == 3:
@@ -27,6 +28,9 @@ def ply_info(input_ply):
                 elif props[0] == "element" and props[1] == "vertex":
                     vertex_count = int(props[2])
             i += 1
+            if i > 100:
+                raise IOError("Cannot find end_header field. Invalid PLY?")
+            
 
     return {
         'has_normals': has_normals,
@@ -99,7 +103,7 @@ def filter(input_point_cloud, output_point_cloud, standard_deviation=2.5, meank=
 
     # Do we need to split this?
     VERTEX_THRESHOLD = 300000
-    max_concurrency = min(max_concurrency, math.ceil(info['vertex_count'] / VERTEX_THRESHOLD))
+    max_concurrency = min(max_concurrency, int(math.ceil(info['vertex_count'] / VERTEX_THRESHOLD)))
     vertices_per_submodel = int(math.ceil(info['vertex_count'] / max(1, max_concurrency)))
     should_split = max_concurrency > 1 and info['vertex_count'] > VERTEX_THRESHOLD
 
@@ -111,22 +115,25 @@ def filter(input_point_cloud, output_point_cloud, standard_deviation=2.5, meank=
 
         point_cloud_submodels = split(input_point_cloud, partsdir, "part.ply", capacity=vertices_per_submodel, dims=dims)
 
-         # Filter
-        for pcs in point_cloud_submodels:
+        def run_filter(pcs):
             # Recurse
-            filter(pcs, io.related_file_path(pcs, postfix="_filtered"), 
+            filter(pcs['path'], io.related_file_path(pcs['path'], postfix="_filtered"), 
                         standard_deviation=standard_deviation, 
                         meank=meank, 
                         sample_radius=sample_radius, 
                         verbose=verbose,
                         max_concurrency=1)
+        # Filter
+        parallel_map(run_filter, [{'path': p} for p in point_cloud_submodels], max_concurrency)
 
         # Merge
         log.ODM_INFO("Merging %s point cloud chunks to %s" % (len(point_cloud_submodels), output_point_cloud))
         filtered_pcs = [io.related_file_path(pcs, postfix="_filtered") for pcs in point_cloud_submodels]
-        merge_ply(filtered_pcs, output_point_cloud, dims)
+        #merge_ply(filtered_pcs, output_point_cloud, dims)
+        fast_merge_ply(filtered_pcs, output_point_cloud)
 
-        # TODO REMOVE parts
+        if os.path.exists(partsdir):
+            shutil.rmtree(partsdir)
     else:
         # Process point cloud (or a point cloud submodel) in a single step
         filterArgs = {
@@ -230,6 +237,59 @@ def merge(input_point_cloud_files, output_file, rerun=False):
     system.run('lasmerge -i {all_inputs} -o "{output}"'.format(**kwargs))
    
 
+def fast_merge_ply(input_point_cloud_files, output_file):
+    # Assumes that all input files share the same header/content format
+    # As the merge is a naive byte stream copy
+
+    num_files = len(input_point_cloud_files)
+    if num_files == 0:
+        log.ODM_WARNING("No input point cloud files to process")
+        return
+    
+    if io.file_exists(output_file):
+        log.ODM_WARNING("Removing previous point cloud: %s" % output_file)
+        os.remove(output_file)
+    
+    vertex_count = sum([ply_info(pcf)['vertex_count'] for pcf in input_point_cloud_files])
+    master_file = input_point_cloud_files[0]
+    with open(output_file, "wb") as out:
+        with open(master_file, "r") as fhead:
+            # Copy header
+            line = fhead.readline()
+            out.write(line)
+
+            i = 0
+            while line.strip().lower() != "end_header":
+                line = fhead.readline()
+                
+                # Intercept element vertex field
+                if line.lower().startswith("element vertex "):
+                    out.write("element vertex %s\n" % vertex_count)
+                else:                    
+                    out.write(line)
+
+                i += 1
+                if i > 100:
+                    raise IOError("Cannot find end_header field. Invalid PLY?")
+            
+        for ipc in input_point_cloud_files:
+            i = 0
+            with open(ipc, "rb") as fin:
+                # Skip header
+                line = fin.readline()
+                while line.strip().lower() != "end_header":
+                    line = fin.readline()
+
+                    i += 1
+                    if i > 100:
+                        raise IOError("Cannot find end_header field. Invalid PLY?")
+                
+                # Write fields
+                out.write(fin.read())
+    
+    return output_file
+
+
 def merge_ply(input_point_cloud_files, output_file, dims=None):
     num_files = len(input_point_cloud_files)
     if num_files == 0: