Merge pull request #17 from dakotabenjamin/cmake-changes

Update matcher args, opensfm url, and ccd_defs_check

SuperBuild/cmake/External-OpenSfM.cmake

@@ -8,8 +8,8 @@ ExternalProject_Add(${_proj_name}
   STAMP_DIR         ${_SB_BINARY_DIR}/stamp
   #--Download step--------------
   DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
-  URL               https://github.com/mapillary/OpenSfM/archive/odm-2.zip
+  URL               https://github.com/mapillary/OpenSfM/archive/a4b07056aec1184692c1432fbdd1074710aec32b.zip
-  URL_MD5           2D56E04D7130E7A9D266BDBAC0539C47
+  URL_MD5           42B2B1994C3309BBF4525C8CC1F6F741
   #--Update/Patch step----------
   UPDATE_COMMAND    ""
   #--Configure step-------------

ccd_defs_check.py

@@ -0,0 +1,25 @@
+#!/usr/bin/python
+import sys
+import os
+import json
+
+BIN_PATH_ABS = os.path.abspath(os.path.dirname(os.path.abspath(__file__)))
+
+def get_ccd_widths():
+	"""Return the CCD Width of the camera listed in the JSON defs file."""
+	with open(BIN_PATH_ABS + '/data/ccd_defs.json') as jsonFile:
+		return json.load(jsonFile)
+
+try:
+	ccd_defs = get_ccd_widths()
+	print "CCD_DEFS compiles OK"
+	print "Definitions in file: {0}".format(len(ccd_defs))
+	exit_code=0
+except IOError as e:
+	print "I/O error with CCD_DEFS file: {0}".format(e.strerror)
+	exit_code=255
+except:
+	print "Error with CCD_DEFS file: {0}".format(sys.exc_info()[1])
+	exit_code=255
+
+sys.exit(exit_code)

hooks/pre-commit

@@ -10,13 +10,14 @@
 exec 1>&2
 
 echo "RUNNING PRE-COMMIT"
-
+EXIT_CODE=0
 # Get list of files about to be committed
 if git diff --cached --name-only --diff-filter=ACM | grep 'ccd_defs.json'; then
     echo "We changed ccd_defs.json"
     GIT_ROOT=$(git rev-parse --show-toplevel)
-    perl $GIT_ROOT/ccd_defs_check.pl
+    python $GIT_ROOT/ccd_defs_check.py
+    EXIT_CODE=$(echo $?)
 fi
 
 # non-zero exit fails the commit
-exit 0
+exit $EXIT_CODE

opendm/config.py

@@ -50,56 +50,49 @@ parser.add_argument('--min-num-features',
                     type=int,
                     help=('Minimum number of features to extract per image. '
                           'More features leads to better results but slower '
-                          'execution.'))
+                          'execution. Default: %(default)s'))
 
 parser.add_argument('--matcher-threshold',
                     metavar='<percent>',
                     default=2.0,
                     type=float,
                     help=('Ignore matched keypoints if the two images share '
-                            'less than <float> percent of keypoints'))
+                            'less than <float> percent of keypoints. Default:'
+			    ' $(default)s'))
 
 parser.add_argument('--matcher-ratio',
                     metavar='<float>',
                     default=0.6,
                     type=float,
                     help=('Ratio of the distance to the next best matched '
-                            'keypoint'))
+                            'keypoint. Default: %(default)s'))
 
-parser.add_argument('--matcher-preselect',
+parser.add_argument('--matcher-neighbors',
-                    type=bool,
-                    metavar='',
-                    default=False,
-                    help=('use GPS exif data, if available, to match each '
-                            'image only with its k-nearest neighbors, or all '
-                            'images within a certain distance threshold'))
-
-parser.add_argument('--matcher-useKnn',
-                    type=bool,
-                    metavar='',
-                    default=True,
-                    help=('use GPS exif data, if available, to match each '
-                            'image only with its k-nearest neighbors, or all '
-                            'images within a certain distance threshold'))
-
-parser.add_argument('--matcher-kDistance',
-                    metavar='<integer>',
-                    default=20,
                     type=int,
-                    help='')
-
-parser.add_argument('--matcher-k',
                     metavar='<integer>',
                     default=8,
+                    help='Number of nearest images to pre-match based on GPS '
+                            'exif data. Set to 0 to skip pre-matching. '
+                            'Neighbors works together with Distance parameter, '
+                            'set both to 0 to not use pre-matching. OpenSFM '
+                            'uses both parameters at the same time, Bundler '
+                            'uses only one which has value, prefering the '
+                            'Neighbors parameter. Default: %(default)s')
+
+parser.add_argument('--matcher-distance',
+                    metavar='<integer>',
+                    default=0,
                     type=int,
-                    help='Number of k-nearest images to match '
+                    help='Distance threshold in meters to find pre-matching '
-                         'when using OpenSfM')
+                            'images based on GPS exif data. Set to 0 to skip '
+                            'pre-matching. Default: %(default)s')
 
 parser.add_argument('--cmvs-maxImages',
                     metavar='<integer>',
                     default=500,
                     type=int,
-                    help='The maximum number of images per cluster')
+                    help='The maximum number of images per cluster. '
+                             'Default: %(default)s')
 
 parser.add_argument('--pmvs-level',
                     metavar='<positive integer>',
@@ -108,32 +101,33 @@ parser.add_argument('--pmvs-level',
                     help=('The level in the image pyramid that is used '
                             'for the computation. see '
                             'http://www.di.ens.fr/pmvs/documentation.html for '
-                            'more pmvs documentation'))
+                            'more pmvs documentation. Default: %(default)s'))
 
 parser.add_argument('--pmvs-csize',
                     metavar='< positive integer>',
                     default=2,
                     type=int,
-                    help='Cell size controls the density of reconstructions')
+                    help='Cell size controls the density of reconstructions'
+                             'Default: %(default)s')
 
 parser.add_argument('--pmvs-threshold',
                     metavar='<float: -1.0 <= x <= 1.0>',
                     default=0.7,
                     type=float,
                     help=('A patch reconstruction is accepted as a success '
-                            'and kept, if its associcated photometric consistency '
+                            'and kept if its associated photometric consistency '
-                            'measure is above this threshold.'))
+                            'measure is above this threshold. Default: %(default)s'))
 
 parser.add_argument('--pmvs-wsize',
                     metavar='<positive integer>',
                     default=7,
                     type=int,
-                    help=('pmvs samples wsize x wsize pixel colors from '
+                    help='pmvs samples wsize x wsize pixel colors from '
                             'each image to compute photometric consistency '
                             'score. For example, when wsize=7, 7x7=49 pixel '
                             'colors are sampled in each image. Increasing the '
                             'value leads to more stable reconstructions, but '
-                            'the program becomes slower.'))
+                            'the program becomes slower. Default: %(default)s')
 
 parser.add_argument('--pmvs-minImageNum',
                     metavar='<positive integer>',
@@ -141,20 +135,21 @@ parser.add_argument('--pmvs-minImageNum',
                     type=int,
                     help=('Each 3D point must be visible in at least '
                             'minImageNum images for being reconstructed. 3 is '
-                            'suggested in general.'))
+                            'suggested in general. Default: %(default)s'))
 
 parser.add_argument('--pmvs-num-cores',
                     metavar='<positive integer>',
                     default=1,
                     type=int,
                     help=('The maximum number of cores to use in dense '
-                            'reconstruction.'))
+                            'reconstruction. Default: %(default)s'))
 
 parser.add_argument('--odm_meshing-maxVertexCount',
                     metavar='<positive integer>',
                     default=100000,
                     type=int,
-                    help='The maximum vertex count of the output mesh')
+                    help=('The maximum vertex count of the output mesh '
+                            'Default: %(default)s'))
 
 parser.add_argument('--odm_meshing-octreeDepth',
                     metavar='<positive integer>',
@@ -162,14 +157,14 @@ parser.add_argument('--odm_meshing-octreeDepth',
                     type=int,
                     help=('Oct-tree depth used in the mesh reconstruction, '
                             'increase to get more vertices, recommended '
-                            'values are 8-12'))
+                            'values are 8-12. Default: %(default)s'))
 
 parser.add_argument('--odm_meshing-samplesPerNode',
                     metavar='<float >= 1.0>',
-                    default=1,
+                    default=1.0,
                     type=float,
                     help=('Number of points per octree node, recommended '
-                            'value: 1.0'))
+                            'and default value: %(default)s'))
 
 parser.add_argument('--odm_meshing-solverDivide',
                     metavar='<positive integer>',
@@ -178,44 +173,48 @@ parser.add_argument('--odm_meshing-solverDivide',
                     help=('Oct-tree depth at which the Laplacian equation '
                             'is solved in the surface reconstruction step. '
                             'Increasing this value increases computation '
-                            'times slightly but helps reduce memory usage.'))
+                            'times slightly but helps reduce memory usage. '
+                            'Default: %(default)s'))
 
 parser.add_argument('--odm_texturing-textureResolution',
                     metavar='<positive integer>',
                     default=4096,
                     type=int,
                     help=('The resolution of the output textures. Must be '
-                            'greater than textureWithSize.'))
+                            'greater than textureWithSize. Default: %(default)s'))
 
 parser.add_argument('--odm_texturing-textureWithSize',
                     metavar='<positive integer>',
                     default=3600,
                     type=int,
                     help=('The resolution to rescale the images performing '
-                            'the texturing.'))
+                            'the texturing. Default: %(default)s'))
 
 parser.add_argument('--odm_georeferencing-gcpFile',
                     metavar='<path string>',
                     default='gcp_list.txt',
                     help=('path to the file containing the ground control '
-                            'points used for georeferencing.The file needs to '
+                            'points used for georeferencing.  Default: '
+                            '%(default)s. The file needs to '
                             'be on the following line format: \neasting '
                             'northing height pixelrow pixelcol imagename'))
 
 parser.add_argument('--odm_georeferencing-useGcp',
-                    type = bool,
+                    action = 'store_true',
                     default = False,
-                    help = 'set to true for enabling GCPs from the file above')
+                    help = 'Enabling GCPs from the file above. The GCP file '
+                             'is not used by default.')
 
 parser.add_argument('--odm_orthophoto-resolution',
                     metavar='<float > 0.0>',
                     default=20.0,
                     type=float,
-                    help=('Orthophoto ground resolution in pixels/meter'))
+                    help=('Orthophoto ground resolution in pixels/meter'
+                             'Default: %(default)s'))
 
 parser.add_argument('--zip-results',
                     action='store_true',
                     default=False,
                     help='compress the results using gunzip')
 
-args = vars(parser.parse_args())
+args = vars(parser.parse_args())

scripts/odm_app.py

@@ -38,7 +38,8 @@ class ODMApp(ecto.BlackBox):
                                             feature_process_size=p.args['resize_to'],
                                             feature_min_frames=p.args['min_num_features'],
                                             processes=context.num_cores,
-                                            matching_gps_neighbors=p.args['matcher_k']),
+                                            matching_gps_neighbors=p.args['matcher_neighbors'],
+                                            matching_gps_distance=p.args['matcher_distance']),
                   'cmvs': ODMCmvsCell(max_images=p.args['cmvs_maxImages']),
                   'pmvs': ODMPmvsCell(level=p.args['pmvs_level'],
                                       csize=p.args['pmvs_csize'],
@@ -118,4 +119,4 @@ class ODMApp(ecto.BlackBox):
                          self.args[:] >> self.orthophoto['args'],
                          self.georeferencing['reconstruction'] >> self.orthophoto['reconstruction'] ]
 
-        return connections
+        return connections

scripts/opensfm.py

@@ -8,10 +8,11 @@ from opendm import context
 class ODMOpenSfMCell(ecto.Cell):
     def declare_params(self, params):
         params.declare("use_exif_size", "The application arguments.", False)
-        params.declare("feature_process_size", "The application arguments.", False)
+        params.declare("feature_process_size", "The application arguments.", 2400)
-        params.declare("feature_min_frames", "The application arguments.", 0)
+        params.declare("feature_min_frames", "The application arguments.", 4000)
-        params.declare("processes", "The application arguments.", 0)
+        params.declare("processes", "The application arguments.", context.num_cores)
-        params.declare("matching_gps_neighbors", "The application arguments.", 0)
+        params.declare("matching_gps_neighbors", "The application arguments.", 8)
+        params.declare("matching_gps_distance", "The application arguments.", 0)
 
     def declare_io(self, params, inputs, outputs):
         inputs.declare("tree", "Struct with paths", [])
@@ -59,6 +60,9 @@ class ODMOpenSfMCell(ecto.Cell):
                 "matching_gps_neighbors: %s" % self.params.matching_gps_neighbors
             ]
 
+            if args['matcher_distance']>0:
+                config.append("matching_gps_distance: %s" % self.params.matching_gps_distance)
+
             # write config file
             config_filename = io.join_paths(tree.opensfm, 'config.yaml')
             with open(config_filename, 'w') as fout:
@@ -93,4 +97,4 @@ class ODMOpenSfMCell(ecto.Cell):
             log.ODM_WARNING('Found a valid CMVS file in: %s' % tree.pmvs_visdat)
 
         log.ODM_INFO('Running OMD OpenSfm Cell - Finished')
-        return ecto.OK if args['end_with'] != 'opensfm' else ecto.QUIT
+        return ecto.OK if args['end_with'] != 'opensfm' else ecto.QUIT