Started adding OpenMVS

Dockerfile

@@ -27,7 +27,9 @@ RUN rm -rf \
   /code/SuperBuild/src/opencv \
   /code/SuperBuild/src/opengv \
   /code/SuperBuild/src/pcl \
-  /code/SuperBuild/src/pdal
+  /code/SuperBuild/src/pdal \
+  /code/SuperBuild/src/openmvs \
+  /code/SuperBuild/build/openmvs
 
 # Entry point
 ENTRYPOINT ["python3", "/code/run.py"]

SuperBuild/CMakeLists.txt

@@ -110,6 +110,7 @@ set(custom_libs OpenSfM
 				PDAL
                 Entwine
 				MvsTexturing
+                OpenMVS
 )
 
 foreach(lib ${custom_libs})

configure.sh

@@ -91,6 +91,9 @@ install() {
                          libboost-python-dev \
                          libboost-date-time-dev \
                          libboost-thread-dev
+    
+    echo "Installing OpenMVS Dependencies"
+    sudo apt-get install -y -qq --no-install-recommends libcgal-dev
 
     pip install --ignore-installed -r requirements.txt
 

opendm/config.py

@@ -9,7 +9,7 @@ from pyodm import Node, exceptions
 import sys
 
 # parse arguments
-processopts = ['dataset', 'split', 'merge', 'opensfm', 'mve', 'odm_filterpoints',
+processopts = ['dataset', 'split', 'merge', 'opensfm', 'openmvs', 'odm_filterpoints',
                'odm_meshing', 'mvs_texturing', 'odm_georeferencing',
                'odm_dem', 'odm_orthophoto', 'odm_report']
 
@@ -275,16 +275,6 @@ def config(argv=None, parser=None):
                         help='Run local bundle adjustment for every image added to the reconstruction and a global '
                              'adjustment every 100 images. Speeds up reconstruction for very large datasets.')
 
-    parser.add_argument('--mve-confidence',
-                        metavar='<float: 0 <= x <= 1>',
-                        action=StoreValue,
-                        type=float,
-                        default=0.60,
-                        help=('Discard points that have less than a certain confidence threshold. '
-                              'This only affects dense reconstructions performed with MVE. '
-                              'Higher values discard more points. '
-                              'Default: %(default)s'))
-
     parser.add_argument('--use-3dmesh',
                     action=StoreTrue,
                     nargs=0,

opendm/context.py

@@ -40,6 +40,9 @@ dem2points_path = os.path.join(superbuild_path, 'src', 'dem2points', 'dem2points
 # define mvstex path
 mvstex_path = os.path.join(superbuild_path, "install/bin/texrecon")
 
+# openmvs paths
+omvs_densify_path = os.path.join(superbuild_path, "install/bin/OpenMVS/DensifyPointCloud")
+
 # define txt2las path
 txt2las_path = os.path.join(superbuild_path, 'src/las-tools/bin')
 pdal_path = os.path.join(superbuild_path, 'build/pdal/bin')

opendm/io.py

@@ -12,8 +12,8 @@ def extract_path_from_file(file):
     return path
 
 
-def join_paths(path1, path2):
-    return os.path.join(path1, path2)
+def join_paths(*args):
+    return os.path.join(*args)
 
 
 def file_exists(path_file):

opendm/types.py

@@ -214,6 +214,7 @@ class ODM_Tree(object):
         self.dataset_raw = io.join_paths(self.root_path, 'images')
         self.opensfm = io.join_paths(self.root_path, 'opensfm')
         self.mve = io.join_paths(self.root_path, 'mve')
+        self.openmvs = io.join_paths(self.opensfm, 'undistorted', 'openmvs')
         self.odm_meshing = io.join_paths(self.root_path, 'odm_meshing')
         self.odm_texturing = io.join_paths(self.root_path, 'odm_texturing')
         self.odm_25dtexturing = io.join_paths(self.root_path, 'odm_texturing_25d')
@@ -244,6 +245,9 @@ class ODM_Tree(object):
         self.mve_model = io.join_paths(self.mve, 'mve_dense_point_cloud.ply')
         self.mve_views = io.join_paths(self.mve, 'views')
 
+        # OpenMVS
+        self.openmvs_model = io.join_paths(self.openmvs, 'scene_dense.ply')
+
         # filter points
         self.filtered_point_cloud = io.join_paths(self.odm_filterpoints, "point_cloud.ply")
 

portable.Dockerfile

@@ -27,7 +27,9 @@ RUN rm -rf \
   /code/SuperBuild/src/opencv \
   /code/SuperBuild/src/opengv \
   /code/SuperBuild/src/pcl \
-  /code/SuperBuild/src/pdal
+  /code/SuperBuild/src/pdal \
+  /code/SuperBuild/src/openmvs \
+  /code/SuperBuild/build/openmvs
 
 # Entry point
 ENTRYPOINT ["python3", "/code/run.py"]

stages/odm_app.py

@@ -8,7 +8,7 @@ from opendm import log
 
 from stages.dataset import ODMLoadDatasetStage
 from stages.run_opensfm import ODMOpenSfMStage
-from stages.mve import ODMMveStage
+from stages.openmvs import ODMOpenMVSStage
 from stages.odm_slam import ODMSlamStage
 from stages.odm_meshing import ODMeshingStage
 from stages.mvstex import ODMMvsTexStage
@@ -34,7 +34,7 @@ class ODMApp:
         merge = ODMMergeStage('merge', args, progress=100.0)
         opensfm = ODMOpenSfMStage('opensfm', args, progress=25.0)
         slam = ODMSlamStage('slam', args)
-        mve = ODMMveStage('mve', args, progress=50.0)
+        openmvs = ODMOpenMVSStage('openmvs', args, progress=50.0)
         filterpoints = ODMFilterPoints('odm_filterpoints', args, progress=52.0)
         meshing = ODMeshingStage('odm_meshing', args, progress=60.0,
                                     max_vertex=args.mesh_size,
@@ -71,8 +71,8 @@ class ODMApp:
         if args.use_opensfm_dense or args.fast_orthophoto:
             opensfm.connect(filterpoints)
         else:
-            opensfm.connect(mve) \
-                    .connect(filterpoints)
+            opensfm.connect(openmvs) \
+                   .connect(filterpoints)
         
         filterpoints \
             .connect(meshing) \
@@ -82,14 +82,5 @@ class ODMApp:
             .connect(orthophoto) \
             .connect(report)
                 
-        # # SLAM pipeline
-        # # TODO: this is broken and needs work
-        # log.ODM_WARNING("SLAM module is currently broken. We could use some help fixing this. If you know Python, get in touch at https://community.opendronemap.org.")
-        # self.first_stage = slam
-
-        # slam.connect(mve) \
-        #     .connect(meshing) \
-        #     .connect(texturing)
-
     def execute(self):
         self.first_stage.run()

stages/odm_filterpoints.py

@@ -21,7 +21,7 @@ class ODMFilterPoints(types.ODM_Stage):
             elif args.use_opensfm_dense:
                 inputPointCloud = tree.opensfm_model
             else:
-                inputPointCloud = tree.mve_model
+                inputPointCloud = tree.openmvs_model
 
             point_cloud.filter(inputPointCloud, tree.filtered_point_cloud, 
                                 standard_deviation=args.pc_filter, 

stages/openmvs.py

@@ -0,0 +1,69 @@
+import shutil, os, glob, math
+
+from opendm import log
+from opendm import io
+from opendm import system
+from opendm import context
+from opendm import point_cloud
+from opendm import types
+from opendm.osfm import OSFMContext
+
+class ODMOpenMVSStage(types.ODM_Stage):
+    def process(self, args, outputs):
+        # get inputs
+        tree = outputs['tree']
+        reconstruction = outputs['reconstruction']
+        photos = reconstruction.photos
+
+        if not photos:
+            log.ODM_ERROR('Not enough photos in photos array to start OpenMVS')
+            exit(1)
+
+        # check if reconstruction was done before
+        if not io.file_exists(tree.openmvs_model) or self.rerun():
+            if io.dir_exists(tree.openmvs):
+                shutil.rmtree(tree.openmvs)
+
+            # export reconstruction from opensfm
+            octx = OSFMContext(tree.opensfm)
+            cmd = 'export_openmvs'
+            if reconstruction.multi_camera:
+                # Export only the primary band
+                primary = reconstruction.multi_camera[0]
+                image_list = os.path.join(tree.opensfm, "image_list_%s.txt" % primary['name'].lower())
+                cmd += ' --image_list "%s"' % image_list
+            octx.run(cmd)
+            
+            self.update_progress(10)
+
+            depthmaps_dir = os.path.join(tree.openmvs, "depthmaps")
+            if not io.dir_exists(depthmaps_dir):
+                os.mkdir(depthmaps_dir)
+
+            resolution_level = int(float(outputs['undist_image_max_size']) / (2*args.depthmap_resolution))
+
+            config = [
+                " --resolution-level %s" % resolution_level,
+	            "--min-resolution %s" % args.depthmap_resolution,
+                "--max-resolution %s" % outputs['undist_image_max_size'],
+                "--max-threads %s" % args.max_concurrency,
+                '-w "%s"' % depthmaps_dir, 
+                "-v 0",
+            ]
+
+            log.ODM_INFO("Running dense reconstruction. This might take a while.")
+            
+            system.run('%s "%s" %s' % (context.omvs_densify_path, 
+                                       os.path.join(tree.openmvs, 'scene.mvs'),
+                                      ' '.join(config)))
+
+            self.update_progress(90)
+
+            if args.optimize_disk_space:
+                dense_scene = os.path.join(tree.openmvs, 'scene_dense.mvs')
+                if os.path.exists(dense_scene):
+                    os.remove(dense_scene)
+                shutil.rmtree(depthmaps_dir)
+        else:
+            log.ODM_WARNING('Found a valid OpenMVS reconstruction file in: %s' %
+                            tree.openmvs_model)