kopia lustrzana https://github.com/OpenDroneMap/ODM
Remove MVE, handle image masks
Piero Toffanin
rodzic
e38cc753d2
commit
f31355e3ce
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@ -120,19 +120,6 @@ endforeach()
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include(ProcessorCount)
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ProcessorCount(nproc)
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## Add mve Build
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externalproject_add(mve
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GIT_REPOSITORY https://github.com/OpenDroneMap/mve.git
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GIT_TAG 210
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UPDATE_COMMAND ""
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SOURCE_DIR ${SB_SOURCE_DIR}/elibs/mve
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CONFIGURE_COMMAND ""
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BUILD_IN_SOURCE 1
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BUILD_COMMAND make -j${nproc}
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INSTALL_COMMAND ""
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)
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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 ce5005ae3094d902d551a65a8b3131e06f45e7cf
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@ -27,12 +27,6 @@ opensfm_path = os.path.join(superbuild_path, "src/opensfm")
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# define orb_slam2 path
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orb_slam2_path = os.path.join(superbuild_path, "src/orb_slam2")
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# define mve join_paths
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makescene_path = os.path.join(superbuild_path, 'src', 'elibs', 'mve', 'apps', 'makescene', 'makescene') #TODO: don't install in source
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dmrecon_path = os.path.join(superbuild_path, 'src', 'elibs', 'mve', 'apps', 'dmrecon', 'dmrecon')
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scene2pset_path = os.path.join(superbuild_path, 'src', 'elibs', 'mve', 'apps', 'scene2pset', 'scene2pset')
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meshclean_path = os.path.join(superbuild_path, 'src', 'elibs', 'mve', 'apps', 'meshclean', 'meshclean')
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poisson_recon_path = os.path.join(superbuild_path, 'src', 'PoissonRecon', 'Bin', 'Linux', 'PoissonRecon')
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dem2mesh_path = os.path.join(superbuild_path, 'src', 'dem2mesh', 'dem2mesh')
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dem2points_path = os.path.join(superbuild_path, 'src', 'dem2points', 'dem2points')
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@ -213,7 +213,6 @@ class ODM_Tree(object):
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# whole reconstruction process.
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self.dataset_raw = io.join_paths(self.root_path, 'images')
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self.opensfm = io.join_paths(self.root_path, 'opensfm')
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self.mve = io.join_paths(self.root_path, 'mve')
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self.openmvs = io.join_paths(self.opensfm, 'undistorted', 'openmvs')
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self.odm_meshing = io.join_paths(self.root_path, 'odm_meshing')
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self.odm_texturing = io.join_paths(self.root_path, 'odm_texturing')
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@ -241,10 +240,6 @@ class ODM_Tree(object):
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self.opensfm_model = io.join_paths(self.opensfm, 'undistorted/depthmaps/merged.ply')
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self.opensfm_transformation = io.join_paths(self.opensfm, 'geocoords_transformation.txt')
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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_views = io.join_paths(self.mve, 'views')
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# OpenMVS
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self.openmvs_model = io.join_paths(self.openmvs, 'scene_dense.ply')
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2
run.py
2
run.py
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@ -60,7 +60,7 @@ if __name__ == '__main__':
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quote(os.path.join(args.project_path, "opensfm")),
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quote(os.path.join(args.project_path, "odm_filterpoints")),
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quote(os.path.join(args.project_path, "odm_texturing_25d")),
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quote(os.path.join(args.project_path, "mve")),
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quote(os.path.join(args.project_path, "openmvs")),
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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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@ -110,7 +110,7 @@ class ODMLoadDatasetStage(types.ODM_Stage):
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p.set_mask(find_mask(f, masks))
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photos += [p]
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dataset_list.write(photos[-1].filename + '\n')
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# Check if a geo file is available
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if tree.odm_geo_file is not None and os.path.exists(tree.odm_geo_file):
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log.ODM_INFO("Found image geolocation file")
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@ -134,6 +134,22 @@ class ODMLoadDatasetStage(types.ODM_Stage):
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log.ODM_INFO('Found %s usable images' % len(photos))
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# TODO: add support for masks in OpenMVS
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has_mask = False
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for p in photos:
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if p.mask is not None:
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has_mask = True
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break
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if has_mask and not args.use_opensfm_dense:
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log.ODM_WARNING("Image masks found, will use OpenSfM for dense reconstruction")
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args.use_opensfm_dense = True
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# Remove OpenMVS from pipeline. Yep.
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opensfm_stage = self.next_stage.next_stage.next_stage
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opensfm_stage.next_stage = opensfm_stage.next_stage.next_stage
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opensfm_stage.next_stage.prev_stage = opensfm_stage
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# Create reconstruction object
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reconstruction = types.ODM_Reconstruction(photos)
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102
stages/mve.py
102
stages/mve.py
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@ -1,102 +0,0 @@
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import shutil, os, glob, math
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from opendm import log
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from opendm import io
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from opendm import system
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from opendm import context
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from opendm import point_cloud
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from opendm import types
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from opendm.osfm import OSFMContext
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class ODMMveStage(types.ODM_Stage):
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def process(self, args, outputs):
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# get inputs
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tree = outputs['tree']
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reconstruction = outputs['reconstruction']
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photos = reconstruction.photos
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if not photos:
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log.ODM_ERROR('Not enough photos in photos array to start MVE')
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exit(1)
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# check if reconstruction was done before
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if not io.file_exists(tree.mve_model) or self.rerun():
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# mve makescene wants the output directory
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# to not exists before executing it (otherwise it
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# will prompt the user for confirmation)
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if io.dir_exists(tree.mve):
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shutil.rmtree(tree.mve)
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# run mve makescene
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if not io.dir_exists(tree.mve_views):
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nvm_file = tree.opensfm_reconstruction_nvm
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if reconstruction.multi_camera:
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# Reconstruct only the primary band
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primary = reconstruction.multi_camera[0]
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nvm_file = os.path.join(tree.opensfm, "undistorted", "reconstruction_%s.nvm" % primary['name'].lower())
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system.run('%s "%s" "%s"' % (context.makescene_path, nvm_file, tree.mve), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
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self.update_progress(10)
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# Compute mve output scale based on depthmap_resolution
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max_pixels = args.depthmap_resolution * args.depthmap_resolution
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if outputs['undist_image_max_size'] * outputs['undist_image_max_size'] <= max_pixels:
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mve_output_scale = 0
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else:
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ratio = float(outputs['undist_image_max_size'] * outputs['undist_image_max_size']) / float(max_pixels)
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mve_output_scale = int(math.ceil(math.log(ratio) / math.log(4.0)))
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dmrecon_config = [
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"-s%s" % mve_output_scale,
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"--progress=fancy",
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"--local-neighbors=2",
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# "--filter-width=3",
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]
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# Run MVE's dmrecon
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log.ODM_INFO("Running dense reconstruction. This might take a while.")
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# TODO: find out why MVE is crashing at random
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# MVE *seems* to have a race condition, triggered randomly, regardless of dataset
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# https://gist.github.com/pierotofy/6c9ce93194ba510b61e42e3698cfbb89
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# Temporary workaround is to retry the reconstruction until we get it right
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# (up to a certain number of retries).
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retry_count = 1
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while retry_count < 10:
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try:
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system.run('%s %s "%s"' % (context.dmrecon_path, ' '.join(dmrecon_config), tree.mve), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
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break
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except Exception as e:
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if str(e) == "Child returned 134" or str(e) == "Child returned 1":
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retry_count += 1
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log.ODM_WARNING("Caught error code, retrying attempt #%s" % retry_count)
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else:
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raise e
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self.update_progress(90)
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scene2pset_config = [
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"-F%s" % mve_output_scale,
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'-mmask'
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]
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# run scene2pset
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system.run('%s %s "%s" "%s"' % (context.scene2pset_path, ' '.join(scene2pset_config), tree.mve, tree.mve_model), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
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# run cleanmesh (filter points by MVE confidence threshold)
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if args.mve_confidence > 0:
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mve_filtered_model = io.related_file_path(tree.mve_model, postfix=".filtered")
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system.run('%s -t%s --no-clean --component-size=0 "%s" "%s"' % (context.meshclean_path, min(1.0, args.mve_confidence), tree.mve_model, mve_filtered_model), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
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if io.file_exists(mve_filtered_model):
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os.remove(tree.mve_model)
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os.rename(mve_filtered_model, tree.mve_model)
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else:
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log.ODM_WARNING("Couldn't filter MVE model (%s does not exist)." % mve_filtered_model)
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if args.optimize_disk_space:
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shutil.rmtree(tree.mve_views)
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else:
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log.ODM_WARNING('Found a valid MVE reconstruction file in: %s' %
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tree.mve_model)
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