AKAZE features, BRUTEFORCE matcher logic, geo.txt fix

opendm/config.py

@@ -151,7 +151,7 @@ def config(argv=None, parser=None):
                         metavar='<string>',
                         action=StoreValue,
                         default='flann',
-                        choices=['bow', 'bruteforce'. 'flann'],
+                        choices=['bow', 'bruteforce', 'flann'],
                         help=('Matcher algorithm, Fast Library for Approximate Nearest Neighbors or Bag of Words. FLANN is slower, but more stable. BOW is faster, but can sometimes miss valid matches. BRUTEFORCE is very slow but robust.'
                             'Can be one of: %(choices)s. Default: '
                             '%(default)s'))

opendm/osfm.py

@@ -117,9 +117,6 @@ class OSFMContext:
                 except Exception as e:
                     log.ODM_WARNING("Cannot set camera_models_overrides.json: %s" % str(e))
 
-            use_bow = args.matcher_type == "bow"
-            feature_type = "SIFT"
-
             # GPSDOP override if we have GPS accuracy information (such as RTK)
             if 'gps_accuracy_is_set' in args:
                 log.ODM_INFO("Forcing GPS DOP to %s for all images" % args.gps_accuracy)
@@ -208,20 +205,33 @@ class OSFMContext:
             if args.camera_lens != 'auto':
                 config.append("camera_projection_type: %s" % args.camera_lens.upper())
 
-            if not has_gps:
-                log.ODM_INFO("No GPS information, using BOW matching")
-                use_bow = True
-
+            matcher_type = args.matcher_type
             feature_type = args.feature_type.upper()
 
-            if use_bow:
-                config.append("matcher_type: WORDS")
+            osfm_matchers = {
+                "bow": "WORDS",
+                "flann": "FLANN",
+                "bruteforce": "BRUTEFORCE"
+            }
 
-                # Cannot use SIFT with BOW
-                if feature_type == "SIFT":
+            if not has_gps:
+                log.ODM_INFO("No GPS information, using BOW matching")
+                matcher_type = "bow"
+
+            if matcher_type == "bow":
+                # Cannot use anything other than HAHOG with BOW
+                if feature_type != "HAHOG":
                     log.ODM_WARNING("Using BOW matching, will use HAHOG feature type, not SIFT")
                     feature_type = "HAHOG"
             
+            if feature_type == "AKAZE" or feature_type == "ORB":
+                # Cannot use anything other than BRUTEFORCE with AKAZE/ORB
+                if matcher_type != "bruteforce":
+                    log.ODM_WARNING("Using BRUTEFORCE matching (needed since %s is selected)" % feature_type)
+                    matcher_type = "bruteforce"
+
+            config.append("matcher_type: %s" % osfm_matchers[matcher_type])
+
             # GPU acceleration?
             if has_gpus() and feature_type == "SIFT" and (not 'min_num_features_is_set' in args):
                 log.ODM_INFO("Using GPU for extracting SIFT features")

opendm/remote.py

@@ -341,6 +341,10 @@ class Task:
         if os.path.exists(self.path("gcp_list.txt")):
             images.append(self.path("gcp_list.txt"))
         
+        # Add GEO (optional)
+        if os.path.exists(self.path("geo.txt")):
+            images.append(self.path("geo.txt"))
+        
         # Add seed file
         images.append(seed_file)
 

opendm/types.py

@@ -5,6 +5,7 @@ import numpy as np
 from opendm import get_image_size
 from opendm import location
 from opendm.gcp import GCPFile
+from opendm.geo import GeoFile
 from pyproj import CRS
 import xmltodict as x2d
 from six import string_types
@@ -25,7 +26,6 @@ class ODM_Reconstruction(object):
         self.photos = photos
         self.georef = None
         self.gcp = None
-        self.geo_file = None
         self.multi_camera = self.detect_multi_camera()
 
     def detect_multi_camera(self):

stages/dataset.py

@@ -115,7 +115,7 @@ class ODMLoadDatasetStage(types.ODM_Stage):
                         dataset_list.write(photos[-1].filename + '\n')
                 
                 # Check if a geo file is available
-                if tree.odm_geo_file is not None and os.path.exists(tree.odm_geo_file):
+                if tree.odm_geo_file is not None and os.path.isfile(tree.odm_geo_file):
                     log.ODM_INFO("Found image geolocation file")
                     gf = GeoFile(tree.odm_geo_file)
                     updated = 0

stages/splitmerge.py

@@ -89,7 +89,13 @@ class ODMSplitStage(types.ODM_Stage):
                             io.copy(submodel_gcp_file, os.path.abspath(sp_octx.path("gcp_list.txt")))
                         else:
                             log.ODM_INFO("No GCP will be copied for %s, not enough images in the submodel are referenced by the GCP" % sp_octx.name())
-                        
+                    
+                    # Copy GEO file if needed (one for each submodel project directory)
+                    if tree.odm_geo_file is not None and os.path.isfile(tree.odm_geo_file):
+                        geo_dst_path = os.path.abspath(sp_octx.path("..", "geo.txt"))
+                        io.copy(tree.odm_geo_file, geo_dst_path)
+                        log.ODM_INFO("Copied GEO file to %s" % geo_dst_path)
+
                 # Reconstruct each submodel
                 log.ODM_INFO("Dataset has been split into %s submodels. Reconstructing each submodel..." % len(submodel_paths))
                 self.update_progress(25)