kopia lustrzana https://github.com/OpenDroneMap/ODM
Merge pull request #1015 from pierotofy/osfm-update
Upgraded opensfm code, added new depspull/1025/head
Piero Toffanin
GitHub
commit
d9e3959124
16
Dockerfile
16
Dockerfile
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@ -50,9 +50,7 @@ RUN apt-get install --no-install-recommends -y \
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python-dev \
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python-gdal \
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python-matplotlib \
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python-networkx \
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python-pip \
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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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@ -67,18 +65,20 @@ RUN pip install -U \
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exifread \
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gpxpy \
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loky \
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numpy==1.15.4 \
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psutil \
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pyproj \
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PyYAML==3.13 \
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repoze.lru \
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scipy==1.2.1 \
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shapely \
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xmltodict \
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rasterio \
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attrs==19.1.0 \
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pyodm==1.5.2b1 \
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Pillow
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Pillow \
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networkx \
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scipy==1.2.1 \
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numpy==1.15.4 \
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shapely \
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pyproj \
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psutil \
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joblib
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RUN pip install --upgrade cryptography && python -m easy_install --upgrade pyOpenSSL
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@ -140,7 +140,7 @@ externalproject_add(mve
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externalproject_add(poissonrecon
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GIT_REPOSITORY https://github.com/mkazhdan/PoissonRecon.git
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GIT_TAG 20b17f5fb49312a4f765a6bcae55d9c4919932f3
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GIT_TAG ce5005ae3094d902d551a65a8b3131e06f45e7cf
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SOURCE_DIR ${SB_SOURCE_DIR}/PoissonRecon
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UPDATE_COMMAND ""
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CONFIGURE_COMMAND ""
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@ -7,8 +7,7 @@ ExternalProject_Add(${_proj_name}
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STAMP_DIR ${_SB_BINARY_DIR}/stamp
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#--Download step--------------
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DOWNLOAD_DIR ${SB_DOWNLOAD_DIR}
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URL https://github.com/Itseez/opencv/archive/2.4.11.zip
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URL_MD5 b517e83489c709eee1d8be76b16976a7
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URL https://github.com/opencv/opencv/archive/3.4.6.zip
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#--Update/Patch step----------
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UPDATE_COMMAND ""
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#--Configure step-------------
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@ -9,7 +9,7 @@ ExternalProject_Add(${_proj_name}
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#--Download step--------------
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DOWNLOAD_DIR ${SB_DOWNLOAD_DIR}
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GIT_REPOSITORY https://github.com/OpenDroneMap/OpenSfM/
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GIT_TAG 070
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GIT_TAG 090
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#--Update/Patch step----------
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UPDATE_COMMAND git submodule update --init --recursive
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#--Configure step-------------
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2
VERSION
2
VERSION
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@ -1 +1 @@
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0.8.2
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0.9.0
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36
configure.sh
36
configure.sh
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@ -28,7 +28,11 @@ install() {
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libjsoncpp-dev \
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python-gdal \
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grass-core \
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libssl-dev
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libssl-dev \
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liblas-bin \
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swig2.0 \
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python-wheel \
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libboost-log-dev
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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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@ -42,7 +46,6 @@ install() {
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libavformat-dev \
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libswscale-dev \
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python-dev \
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python-numpy \
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libtbb2 \
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libtbb-dev \
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libjpeg-dev \
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@ -59,18 +62,15 @@ install() {
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echo "Removing libdc1394-22-dev due to python opencv issue"
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apt-get remove libdc1394-22-dev
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## Installing OpenSfM Requisites
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echo "Installing OpenSfM Dependencies"
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apt-get install -y -qq python-networkx \
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libgoogle-glog-dev \
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apt-get install -y -qq libgoogle-glog-dev \
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libsuitesparse-dev \
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libboost-filesystem-dev \
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libboost-iostreams-dev \
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libboost-regex-dev \
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libboost-python-dev \
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libboost-date-time-dev \
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libboost-thread-dev \
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python-pyproj
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libboost-thread-dev
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pip install -U PyYAML==3.13 \
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exifread \
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@ -82,25 +82,19 @@ install() {
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rasterio \
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attrs==19.1.0 \
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pyodm==1.5.2b1 \
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Pillow
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Pillow \
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networkx \
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scipy==1.2.1 \
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numpy==1.15.4 \
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shapely \
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pyproj \
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psutil \
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joblib
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# Fix: /usr/local/lib/python2.7/dist-packages/requests/__init__.py:83: RequestsDependencyWarning: Old version of cryptography ([1, 2, 3]) may cause slowdown.
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pip install --upgrade cryptography
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python -m easy_install --upgrade pyOpenSSL
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echo "Installing OpenDroneMap Dependencies"
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apt-get install -y -qq python-scipy \
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liblas-bin
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echo "Installing lidar2dems Dependencies"
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apt-get install -y -qq swig2.0 \
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python-wheel \
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libboost-log-dev
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echo "Installing split-merge Dependencies"
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pip install -U scipy==1.2.1 numpy==1.15.4 shapely pyproj psutil
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echo "Compiling SuperBuild"
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cd ${RUNPATH}/SuperBuild
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mkdir -p build && cd build
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@ -70,9 +70,9 @@ def config():
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metavar='<integer>',
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default=2048,
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type=int,
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help='Resizes images by the largest side for feature extraction. '
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help='Resizes images by the largest side for feature extraction purposes only. '
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'Set to -1 to disable. This does not affect the final orthophoto '
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' resolution quality. Default: %(default)s')
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' resolution quality and will not resize the original images. Default: %(default)s')
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parser.add_argument('--end-with', '-e',
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metavar='<string>',
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@ -149,6 +149,16 @@ def config():
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'Can be specified either as path to a cameras.json file or as a '
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'JSON string representing the contents of a '
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'cameras.json file. Default: %(default)s')
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parser.add_argument('--camera-lens',
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metavar='<string>',
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default='auto',
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choices=['auto', 'perspective', 'brown', 'fisheye', 'spherical'],
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help=('Set a camera projection type. Manually setting a value '
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'can help improve geometric undistortion. By default the application '
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'tries to determine a lens type from the images metadata. Can be '
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'set to one of: [auto, perspective, brown, fisheye, spherical]. Default: '
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'%(default)s'))
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parser.add_argument('--max-concurrency',
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metavar='<positive integer>',
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@ -577,8 +587,9 @@ def config():
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parser.add_argument('--force-gps',
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action='store_true',
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default=False,
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help=('Use images\' gps exif data for reconstruction, even if there are gcps present.'
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'This flag is useful if you have high precision gps measurements.'))
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help=('Use images\' GPS exif data for reconstruction, even if there are GCPs present.'
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'This flag is useful if you have high precision GPS measurements. '
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'If there are no GCPs, this flag does nothing. Default: %(default)s'))
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args = parser.parse_args()
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@ -52,13 +52,32 @@ def create_dem(input_point_cloud, dem_type, output_type='max', radiuses=['0.56']
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ext_width = extent['maxx'] - extent['minx']
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ext_height = extent['maxy'] - extent['miny']
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final_dem_resolution = (int(math.ceil(ext_width / float(resolution))),
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int(math.ceil(ext_height / float(resolution))))
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final_dem_pixels = final_dem_resolution[0] * final_dem_resolution[1]
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w, h = (int(math.ceil(ext_width / float(resolution))),
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int(math.ceil(ext_height / float(resolution))))
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# Set a floor, no matter the resolution parameter
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# (sometimes a wrongly estimated scale of the model can cause the resolution
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# to be set unrealistically low, causing errors)
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RES_FLOOR = 64
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if w < RES_FLOOR and h < RES_FLOOR:
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prev_w, prev_h = w, h
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if w >= h:
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w, h = (RES_FLOOR, int(math.ceil(ext_height / ext_width * RES_FLOOR)))
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else:
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w, h = (int(math.ceil(ext_width / ext_height * RES_FLOOR)), RES_FLOOR)
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floor_ratio = prev_w / float(w)
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resolution *= floor_ratio
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radiuses = [str(float(r) * floor_ratio) for r in radiuses]
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log.ODM_WARNING("Really low resolution DEM requested %s will set floor at %s pixels. Resolution changed to %s. The scale of this reconstruction might be off." % ((prev_w, prev_h), RES_FLOOR, resolution))
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final_dem_pixels = w * h
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num_splits = int(max(1, math.ceil(math.log(math.ceil(final_dem_pixels / float(max_tile_size * max_tile_size)))/math.log(2))))
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num_tiles = num_splits * num_splits
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log.ODM_INFO("DEM resolution is %s, max tile size is %s, will split DEM generation into %s tiles" % (final_dem_resolution, max_tile_size, num_tiles))
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log.ODM_INFO("DEM resolution is %s, max tile size is %s, will split DEM generation into %s tiles" % ((h, w), max_tile_size, num_tiles))
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tile_bounds_width = ext_width / float(num_splits)
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tile_bounds_height = ext_height / float(num_splits)
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@ -20,14 +20,6 @@ class OSFMContext:
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system.run('%s/bin/opensfm %s "%s"' %
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(context.opensfm_path, command, self.opensfm_project_path))
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def export_bundler(self, destination_bundle_file, rerun=False):
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if not io.file_exists(destination_bundle_file) or rerun:
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# convert back to bundler's format
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system.run('%s/bin/export_bundler "%s"' %
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(context.opensfm_path, self.opensfm_project_path))
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else:
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log.ODM_WARNING('Found a valid Bundler file in: %s' % destination_bundle_file)
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def is_reconstruction_done(self):
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tracks_file = os.path.join(self.opensfm_project_path, 'tracks.csv')
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reconstruction_file = os.path.join(self.opensfm_project_path, 'reconstruction.json')
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@ -74,10 +66,13 @@ class OSFMContext:
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# create file list
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has_alt = True
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has_gps = False
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with open(list_path, 'w') as fout:
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for photo in photos:
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if not photo.altitude:
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has_alt = False
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if photo.latitude is not None and photo.longitude is not None:
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has_gps = True
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fout.write('%s\n' % io.join_paths(images_path, photo.filename))
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# check for image_groups.txt (split-merge)
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@ -111,26 +106,33 @@ class OSFMContext:
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"optimize_camera_parameters: %s" % ('no' if args.use_fixed_camera_params or args.cameras else 'yes'),
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"undistorted_image_format: png", # mvs-texturing exhibits artifacts with JPG
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"bundle_outlier_filtering_type: AUTO",
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"align_orientation_prior: vertical",
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]
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# TODO: add BOW matching when dataset is not georeferenced (no gps)
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if args.camera_lens != 'auto':
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config.append("camera_projection_type: %s" % args.camera_lens.upper())
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if not has_gps:
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log.ODM_INFO("No GPS information, using BOW matching")
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config.append("matcher_type: WORDS")
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if has_alt:
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log.ODM_INFO("Altitude data detected, enabling it for GPS alignment")
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config.append("use_altitude_tag: yes")
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if has_alt or gcp_path:
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config.append("align_method: naive")
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config.append("align_method: auto")
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else:
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config.append("align_method: orientation_prior")
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config.append("align_orientation_prior: vertical")
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if args.use_hybrid_bundle_adjustment:
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log.ODM_INFO("Enabling hybrid bundle adjustment")
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config.append("bundle_interval: 100") # Bundle after adding 'bundle_interval' cameras
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config.append("bundle_new_points_ratio: 1.2") # Bundle when (new points) / (bundled points) > bundle_new_points_ratio
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config.append("local_bundle_radius: 1") # Max image graph distance for images to be included in local bundle adjustment
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else:
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config.append("local_bundle_radius: 0")
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if gcp_path:
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config.append("bundle_use_gcp: yes")
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if not args.force_gps:
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@ -225,30 +227,6 @@ class OSFMContext:
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else:
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log.ODM_WARNING("Tried to update configuration, but %s does not exist." % cfg_file)
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def save_absolute_image_list_to(self, file):
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"""
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Writes a copy of the image_list.txt file and makes sure that all paths
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written in it are absolute paths and not relative paths.
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"""
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image_list_file = self.path("image_list.txt")
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if io.file_exists(image_list_file):
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with open(image_list_file, 'r') as f:
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content = f.read()
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lines = []
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for line in map(str.strip, content.split('\n')):
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if line and not line.startswith("/"):
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line = os.path.abspath(os.path.join(self.opensfm_project_path, line))
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lines.append(line)
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with open(file, 'w') as f:
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f.write("\n".join(lines))
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log.ODM_INFO("Wrote %s with absolute paths" % file)
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else:
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log.ODM_WARNING("No %s found, cannot create %s" % (image_list_file, file))
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def name(self):
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return os.path.basename(os.path.abspath(self.path("..")))
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@ -259,9 +259,6 @@ class ODM_Tree(object):
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# mve
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self.mve_model = io.join_paths(self.mve, 'mve_dense_point_cloud.ply')
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self.mve_path = io.join_paths(self.opensfm, 'mve')
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self.mve_image_list = io.join_paths(self.mve_path, 'list.txt')
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self.mve_bundle = io.join_paths(self.mve_path, 'bundle/bundle.out')
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self.mve_views = io.join_paths(self.mve, 'views')
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# filter points
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|
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@ -50,9 +50,7 @@ RUN apt-get install --no-install-recommends -y \
|
|||
python-dev \
|
||||
python-gdal \
|
||||
python-matplotlib \
|
||||
python-networkx \
|
||||
python-pip \
|
||||
python-pyproj \
|
||||
python-software-properties \
|
||||
python-wheel \
|
||||
swig2.0 \
|
||||
|
|
@ -67,18 +65,20 @@ RUN pip install -U \
|
|||
exifread \
|
||||
gpxpy \
|
||||
loky \
|
||||
numpy==1.15.4 \
|
||||
psutil \
|
||||
pyproj \
|
||||
PyYAML==3.13 \
|
||||
repoze.lru \
|
||||
scipy==1.2.1 \
|
||||
shapely \
|
||||
xmltodict \
|
||||
rasterio \
|
||||
attrs==19.1.0 \
|
||||
pyodm==1.5.2b1 \
|
||||
Pillow
|
||||
Pillow \
|
||||
networkx \
|
||||
scipy==1.2.1 \
|
||||
numpy==1.15.4 \
|
||||
shapely \
|
||||
pyproj \
|
||||
psutil \
|
||||
joblib
|
||||
|
||||
RUN pip install --upgrade cryptography && python -m easy_install --upgrade pyOpenSSL
|
||||
|
||||
|
|
|
|||
1
run.py
1
run.py
|
|
@ -49,6 +49,7 @@ if __name__ == '__main__':
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quote(os.path.join(args.project_path, "odm_25dmeshing")),
|
||||
quote(os.path.join(args.project_path, "odm_25dtexturing")),
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quote(os.path.join(args.project_path, "mve")),
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quote(os.path.join(args.project_path, "entwine_pointcloud")),
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quote(os.path.join(args.project_path, "submodels")),
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]))
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||||
|
|
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@ -21,19 +21,6 @@ class ODMMveStage(types.ODM_Stage):
|
|||
|
||||
# check if reconstruction was done before
|
||||
if not io.file_exists(tree.mve_model) or self.rerun():
|
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# cleanup if a rerun
|
||||
if io.dir_exists(tree.mve_path) and self.rerun():
|
||||
shutil.rmtree(tree.mve_path)
|
||||
|
||||
# make bundle directory
|
||||
if not io.file_exists(tree.mve_bundle):
|
||||
system.mkdir_p(tree.mve_path)
|
||||
system.mkdir_p(io.join_paths(tree.mve_path, 'bundle'))
|
||||
|
||||
octx = OSFMContext(tree.opensfm)
|
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octx.save_absolute_image_list_to(tree.mve_image_list)
|
||||
io.copy(tree.opensfm_bundle, tree.mve_bundle)
|
||||
|
||||
# mve makescene wants the output directory
|
||||
# to not exists before executing it (otherwise it
|
||||
# will prompt the user for confirmation)
|
||||
|
|
@ -42,22 +29,16 @@ class ODMMveStage(types.ODM_Stage):
|
|||
|
||||
# run mve makescene
|
||||
if not io.dir_exists(tree.mve_views):
|
||||
system.run('%s "%s" "%s"' % (context.makescene_path, tree.mve_path, tree.mve), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
|
||||
system.run('%s "%s" "%s"' % (context.makescene_path, tree.opensfm_reconstruction_nvm, tree.mve), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
|
||||
|
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self.update_progress(10)
|
||||
|
||||
# Compute mve output scale based on depthmap_resolution
|
||||
max_width = 0
|
||||
max_height = 0
|
||||
for photo in photos:
|
||||
max_width = max(photo.width, max_width)
|
||||
max_height = max(photo.height, max_height)
|
||||
|
||||
max_pixels = args.depthmap_resolution * args.depthmap_resolution
|
||||
if max_width * max_height <= max_pixels:
|
||||
if outputs['undist_image_max_size'] * outputs['undist_image_max_size'] <= max_pixels:
|
||||
mve_output_scale = 0
|
||||
else:
|
||||
ratio = float(max_width * max_height) / float(max_pixels)
|
||||
ratio = float(outputs['undist_image_max_size'] * outputs['undist_image_max_size']) / float(max_pixels)
|
||||
mve_output_scale = int(math.ceil(math.log(ratio) / math.log(4.0)))
|
||||
|
||||
dmrecon_config = [
|
||||
|
|
|
|||
|
|
@ -33,9 +33,6 @@ class ODMOrthoPhotoStage(types.ODM_Stage):
|
|||
'verbose': verbose
|
||||
}
|
||||
|
||||
# Have geo coordinates?
|
||||
georef = reconstruction.georef
|
||||
|
||||
# Check if the georef object is initialized
|
||||
# (during a --rerun this might not be)
|
||||
# TODO: this should be moved to a more central location?
|
||||
|
|
|
|||
|
|
@ -44,11 +44,19 @@ class ODMOpenSfMStage(types.ODM_Stage):
|
|||
output_file = tree.opensfm_reconstruction
|
||||
|
||||
updated_config_flag_file = octx.path('updated_config.txt')
|
||||
|
||||
# Make sure it's capped by the depthmap-resolution arg,
|
||||
# since the undistorted images are used for MVS
|
||||
outputs['undist_image_max_size'] = max(
|
||||
gsd.image_max_size(photos, args.orthophoto_resolution, tree.opensfm_reconstruction, ignore_gsd=args.ignore_gsd),
|
||||
args.depthmap_resolution
|
||||
)
|
||||
|
||||
if not io.file_exists(updated_config_flag_file) or self.rerun():
|
||||
octx.update_config({'undistorted_image_max_size': gsd.image_max_size(photos, args.orthophoto_resolution, tree.opensfm_reconstruction, ignore_gsd=args.ignore_gsd)})
|
||||
octx.update_config({'undistorted_image_max_size': outputs['undist_image_max_size']})
|
||||
octx.touch(updated_config_flag_file)
|
||||
|
||||
# These will be used for texturing
|
||||
# These will be used for texturing / MVS
|
||||
undistorted_images_path = octx.path("undistorted")
|
||||
|
||||
if not io.dir_exists(undistorted_images_path) or self.rerun():
|
||||
|
|
@ -59,7 +67,7 @@ class ODMOpenSfMStage(types.ODM_Stage):
|
|||
self.update_progress(80)
|
||||
|
||||
if not io.file_exists(tree.opensfm_reconstruction_nvm) or self.rerun():
|
||||
octx.run('export_visualsfm --undistorted')
|
||||
octx.run('export_visualsfm --undistorted --points')
|
||||
else:
|
||||
log.ODM_WARNING('Found a valid OpenSfM NVM reconstruction file in: %s' %
|
||||
tree.opensfm_reconstruction_nvm)
|
||||
|
|
@ -80,9 +88,6 @@ class ODMOpenSfMStage(types.ODM_Stage):
|
|||
else:
|
||||
log.ODM_WARNING("Found a valid dense reconstruction in %s" % output_file)
|
||||
|
||||
# check if reconstruction was exported to bundler before
|
||||
octx.export_bundler(tree.opensfm_bundle_list, self.rerun())
|
||||
|
||||
self.update_progress(90)
|
||||
|
||||
if reconstruction.is_georeferenced() and (not io.file_exists(tree.opensfm_transformation) or self.rerun()):
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue