Merge pull request #1856 from sbonaime/split_overlap_doc

doc improvement for split_overlap

.github/workflows/issue-triage.yml

@@ -13,6 +13,7 @@ jobs:
         with:
           ghToken: ${{ secrets.GITHUB_TOKEN }}
           openAI: ${{ secrets.OPENAI_TOKEN }}
+          model: gpt-4o-2024-08-06
           filter: |
             - "#"
           variables: |

README.md

@@ -15,7 +15,13 @@ If you would rather not type commands in a shell and are looking for a friendly
 
 ## Quickstart
 
-The easiest way to run ODM on is via docker. To install docker, see [docs.docker.com](https://docs.docker.com). Once you have docker installed and [working](https://docs.docker.com/get-started/#test-docker-installation), you can run ODM by placing some images (JPEGs or TIFFs) in a folder named “images” (for example `C:\Users\youruser\datasets\project\images` or `/home/youruser/datasets/project/images`) and simply run from a Command Prompt / Terminal:
+The easiest way to run ODM is via docker. To install docker, see [docs.docker.com](https://docs.docker.com). Once you have docker installed and [working](https://docs.docker.com/get-started/#test-docker-installation), you can get ODM by running from a Command Prompt / Terminal:
+
+```bash
+docker pull opendronemap/odm
+```
+
+Run ODM by placing some images (JPEGs, TIFFs or DNGs) in a folder named “images” (for example `C:\Users\youruser\datasets\project\images` or `/home/youruser/datasets/project/images`) and simply run from a Command Prompt / Terminal:
 
 ```bash
 # Windows

SuperBuild/CMakeLists.txt

@@ -244,7 +244,7 @@ externalproject_add(dem2points
 externalproject_add(odm_orthophoto
     DEPENDS           opencv 
     GIT_REPOSITORY    https://github.com/OpenDroneMap/odm_orthophoto.git
-    GIT_TAG           353
+    GIT_TAG           355
     PREFIX            ${SB_BINARY_DIR}/odm_orthophoto
     SOURCE_DIR        ${SB_SOURCE_DIR}/odm_orthophoto
     CMAKE_ARGS        -DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}

SuperBuild/cmake/External-Obj2Tiles.cmake

@@ -1,7 +1,7 @@
 set(_proj_name obj2tiles)
 set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
 
-set(OBJ2TILES_VERSION v1.0.12)
+set(OBJ2TILES_VERSION v1.0.13)
 set(OBJ2TILES_EXT "")
 
 set(OBJ2TILES_ARCH "Linux64")
@@ -9,7 +9,7 @@ if (WIN32)
     set(OBJ2TILES_ARCH "Win64")
     set(OBJ2TILES_EXT ".exe")
 elseif(${CMAKE_SYSTEM_PROCESSOR} STREQUAL "aarch64")
-    set(OBJ2TILES_ARCH "LinuxArm")
+    set(OBJ2TILES_ARCH "LinuxArm64")
 elseif(APPLE)
     set(OBJ2TILES_ARCH "Osx64")
 endif()

SuperBuild/cmake/External-OpenMVS.cmake

@@ -53,7 +53,7 @@ ExternalProject_Add(${_proj_name}
   #--Download step--------------
   DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
   GIT_REPOSITORY    https://github.com/OpenDroneMap/openMVS
-  GIT_TAG           320
+  GIT_TAG           355
   #--Update/Patch step----------
   UPDATE_COMMAND    ""
   #--Configure step-------------

SuperBuild/cmake/External-OpenSfM.cmake

@@ -25,7 +25,7 @@ ExternalProject_Add(${_proj_name}
   #--Download step--------------
   DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
   GIT_REPOSITORY    https://github.com/OpenDroneMap/OpenSfM/
-  GIT_TAG           352
+  GIT_TAG           355
   #--Update/Patch step----------
   UPDATE_COMMAND    git submodule update --init --recursive
   #--Configure step-------------

VERSION

@@ -1 +1 @@
-3.5.4
+3.5.5

contrib/blender/common.py

@@ -1,5 +1,4 @@
 import bpy
-import materials_utils
 
 def loadMesh(file):
 

contrib/dem-blend/README.md

@@ -0,0 +1,13 @@
+# DEM Blending
+
+Blend sets of DEMs by calculating euclidean distance to null values and weighting the combination of elevation models. Based on the split-merge tool within ODM.
+
+Requirements:
+* Directory full of images to blend together
+* NoData should be coded as a value of -9999
+
+## Usage
+
+```BASH
+docker run -ti --rm -v /home/youruser/folder_with_dems:/input --entrypoint /code/contrib/dem-blend/dem-blend.py opendronemap/odm /input
+```

contrib/dem-blend/dem-blend.py

@@ -0,0 +1,30 @@
+#!/usr/bin/env python3
+# Authors: Piero Toffanin, Stephen Mather
+# License: AGPLv3
+
+import os
+import glob
+import sys
+sys.path.insert(0, os.path.join("..", "..", os.path.dirname(__file__)))
+
+import argparse
+from opendm.dem import merge
+
+parser = argparse.ArgumentParser(description='Merge and blend DEMs using OpenDroneMap\'s approach.')
+parser.add_argument('input_dems',
+                type=str,
+                help='Path to input dems (.tif)')
+
+args = parser.parse_args()
+
+if not os.path.exists(args.input_dems):
+    print("%s does not exist" % args.input_dems)
+    exit(1)
+
+output_dem = os.path.join(args.input_dems, 'merged_blended_dem.tif')
+input_dem_path = os.path.join(args.input_dems, '*.tif')
+input_dems = glob.glob(input_dem_path)
+
+merge.euclidean_merge_dems(input_dems
+                    ,output_dem=output_dem
+                )

contrib/mask-duplicator/mask-duplicator.py

@@ -4,7 +4,7 @@ import os
 
 import PIL
 
-from PIL import Image, ExifTags
+from PIL import Image
 
 import shutil
 

contrib/orthorectify/orthorectify.py

@@ -12,7 +12,6 @@ import numpy as np
 import numpy.ma as ma
 import multiprocessing
 import argparse
-import functools
 from skimage.draw import line
 from opensfm import dataset
 

gpu.Dockerfile

@@ -38,6 +38,7 @@ COPY --from=builder /code /code
 # Copy the Python libraries installed via pip from the builder
 COPY --from=builder /usr/local /usr/local
 #COPY --from=builder /usr/lib/x86_64-linux-gnu/libavcodec.so.58 /usr/lib/x86_64-linux-gnu/libavcodec.so.58
+RUN dpkg --remove cuda-compat-11-2
 RUN apt-get update -y \
  && apt-get install -y ffmpeg libtbb2
 # Install shared libraries that we depend on via APT, but *not*

opendm/ai.py

@@ -4,6 +4,25 @@ from opendm import log
 import zipfile
 import time
 import sys
+import rawpy
+import cv2
+
+def read_image(img_path):
+    if img_path[-4:].lower() in [".dng", ".raw", ".nef"]:
+        try:
+            with rawpy.imread(img_path) as r:
+                img = r.postprocess(output_bps=8, use_camera_wb=True, use_auto_wb=False)
+        except:
+            return None
+    else:
+        img = cv2.imread(img_path, cv2.IMREAD_COLOR)
+        if img is None:
+            return None
+
+        img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
+    
+    return img
+
 
 def get_model(namespace, url, version, name = "model.onnx"):
     version = version.replace(".", "_")

opendm/bgfilter.py

@@ -5,6 +5,7 @@ import cv2
 import os
 import onnxruntime as ort
 from opendm import log
+from opendm.ai import read_image
 from threading import Lock
 
 mutex = Lock()
@@ -73,11 +74,7 @@ class BgFilter():
         return output
 
     def run_img(self, img_path, dest):
-        img = cv2.imread(img_path, cv2.IMREAD_COLOR)
-        if img is None:
-            return None
-
-        img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
+        img = read_image(img_path)
         mask  = self.get_mask(img)
         
         img_name = os.path.basename(img_path)

opendm/config.py

@@ -127,7 +127,7 @@ def url_string(string):
         r'\d{1,3}\.\d{1,3}\.\d{1,3}\.\d{1,3})' # ...or ip
         r'(?::\d+)?' # optional port
         r'(?:/?|[/?]\S+)$', re.IGNORECASE)
-        
+
     if re.match(regex, string) is None:
         raise argparse.ArgumentTypeError("%s is not a valid URL. The URL must be in the format: http(s)://host[:port]/[?token=]" % string)
     return string
@@ -164,7 +164,7 @@ def config(argv=None, parser=None):
         parser = SettingsParser(description='ODM is a command line toolkit to generate maps, point clouds, 3D models and DEMs from drone, balloon or kite images.',
                             usage='%s [options] <dataset name>' % usage_bin,
                             yaml_file=open(context.settings_path))
-    
+
     parser.add_argument('--project-path',
                         metavar='<path>',
                         action=StoreValue,
@@ -213,7 +213,7 @@ def config(argv=None, parser=None):
                               'More features can be useful for finding more matches between images, '
                               'potentially allowing the reconstruction of areas with little overlap or insufficient features. '
                               'More features also slow down processing. Default: %(default)s'))
-    
+
     parser.add_argument('--feature-type',
                         metavar='<string>',
                         action=StoreValue,
@@ -222,7 +222,7 @@ def config(argv=None, parser=None):
                         help=('Choose the algorithm for extracting keypoints and computing descriptors. '
                             'Can be one of: %(choices)s. Default: '
                             '%(default)s'))
-    
+
     parser.add_argument('--feature-quality',
                         metavar='<string>',
                         action=StoreValue,
@@ -231,7 +231,7 @@ def config(argv=None, parser=None):
                         help=('Set feature extraction quality. Higher quality generates better features, but requires more memory and takes longer. '
                             'Can be one of: %(choices)s. Default: '
                             '%(default)s'))
-    
+
     parser.add_argument('--matcher-type',
                         metavar='<string>',
                         action=StoreValue,
@@ -247,7 +247,7 @@ def config(argv=None, parser=None):
                         default=0,
                         type=int,
                         help='Perform image matching with the nearest images based on GPS exif data. Set to 0 to match by triangulation. Default: %(default)s')
-    
+
     parser.add_argument('--matcher-order',
                         metavar='<positive integer>',
                         action=StoreValue,
@@ -331,7 +331,7 @@ def config(argv=None, parser=None):
                 nargs=0,
                 default=False,
                 help='Automatically compute image masks using AI to remove the sky. Experimental. Default: %(default)s')
-    
+
     parser.add_argument('--bg-removal',
                 action=StoreTrue,
                 nargs=0,
@@ -349,19 +349,19 @@ def config(argv=None, parser=None):
                     nargs=0,
                     default=False,
                     help='Skip generation of a full 3D model. This can save time if you only need 2D results such as orthophotos and DEMs. Default: %(default)s')
-    
+
     parser.add_argument('--skip-report',
                     action=StoreTrue,
                     nargs=0,
                     default=False,
                     help='Skip generation of PDF report. This can save time if you don\'t need a report. Default: %(default)s')
-    
+
     parser.add_argument('--skip-orthophoto',
                     action=StoreTrue,
                     nargs=0,
                     default=False,
                     help='Skip generation of the orthophoto. This can save time if you only need 3D results or DEMs. Default: %(default)s')
-    
+
     parser.add_argument('--ignore-gsd',
                         action=StoreTrue,
                         nargs=0,
@@ -371,13 +371,13 @@ def config(argv=None, parser=None):
                         'Ordinarily, GSD estimates are used to cap the maximum resolution of image outputs and resizes images when necessary, resulting in faster processing and lower memory usage. '
                         'Since GSD is an estimate, sometimes ignoring it can result in slightly better image output quality. '
                         'Never set --ignore-gsd to true unless you are positive you need it, and even then: do not use it. Default: %(default)s')
-    
+
     parser.add_argument('--no-gpu',
                     action=StoreTrue,
                     nargs=0,
                     default=False,
                     help='Do not use GPU acceleration, even if it\'s available. Default: %(default)s')
-    
+
     parser.add_argument('--mesh-size',
                         metavar='<positive integer>',
                         action=StoreValue,
@@ -462,7 +462,7 @@ def config(argv=None, parser=None):
                         nargs=0,
                         default=False,
                         help='Export the georeferenced point cloud in CSV format. Default: %(default)s')
-    
+
     parser.add_argument('--pc-las',
                 action=StoreTrue,
                 nargs=0,
@@ -488,7 +488,7 @@ def config(argv=None, parser=None):
                         default=5,
                         help='Filters the point cloud by removing points that deviate more than N standard deviations from the local mean. Set to 0 to disable filtering. '
                              'Default: %(default)s')
-    
+
     parser.add_argument('--pc-sample',
                         metavar='<positive float>',
                         action=StoreValue,
@@ -519,7 +519,7 @@ def config(argv=None, parser=None):
         default=0.15,
         help='Simple Morphological Filter slope parameter (rise over run). '
                 'Default: %(default)s')
-    
+
     parser.add_argument('--smrf-threshold',
         metavar='<positive float>',
         action=StoreValue,
@@ -527,7 +527,7 @@ def config(argv=None, parser=None):
         default=0.5,
         help='Simple Morphological Filter elevation threshold parameter (meters). '
                 'Default: %(default)s')
-    
+
     parser.add_argument('--smrf-window',
         metavar='<positive float>',
         action=StoreValue,
@@ -586,7 +586,7 @@ def config(argv=None, parser=None):
                               'EPSG:<code> or <+proj definition>\n'
                               'image_name geo_x geo_y geo_z [yaw (degrees)] [pitch (degrees)] [roll (degrees)] [horz accuracy (meters)] [vert accuracy (meters)]\n'
                               'Default: %(default)s'))
-    
+
     parser.add_argument('--align',
                     metavar='<path string>',
                     action=StoreValue,
@@ -642,7 +642,7 @@ def config(argv=None, parser=None):
                         type=int,
                         help='Decimate the points before generating the DEM. 1 is no decimation (full quality). '
                              '100 decimates ~99%% of the points. Useful for speeding up generation of DEM results in very large datasets. Default: %(default)s')
-    
+
     parser.add_argument('--dem-euclidean-map',
             action=StoreTrue,
             nargs=0,
@@ -675,13 +675,13 @@ def config(argv=None, parser=None):
                         default=False,
                         help='Set this parameter if you want to generate a PNG rendering of the orthophoto. '
                              'Default: %(default)s')
-    
+
     parser.add_argument('--orthophoto-kmz',
                         action=StoreTrue,
                         nargs=0,
                         default=False,
                         help='Set this parameter if you want to generate a Google Earth (KMZ) rendering of the orthophoto. '
-                             'Default: %(default)s')    
+                             'Default: %(default)s')
 
     parser.add_argument('--orthophoto-compression',
                         metavar='<string>',
@@ -690,7 +690,7 @@ def config(argv=None, parser=None):
                         choices=['JPEG', 'LZW', 'PACKBITS', 'DEFLATE', 'LZMA', 'NONE'],
                         default='DEFLATE',
                         help='Set the compression to use for orthophotos. Can be one of: %(choices)s. Default: %(default)s')
-    
+
     parser.add_argument('--orthophoto-cutline',
             action=StoreTrue,
             nargs=0,
@@ -729,7 +729,7 @@ def config(argv=None, parser=None):
                         action=StoreValue,
                         metavar='<positive integer>',
                         default=0,
-                    help='Override the rolling shutter readout time for your camera sensor (in milliseconds), instead of using the rolling shutter readout database. ' 
+                    help='Override the rolling shutter readout time for your camera sensor (in milliseconds), instead of using the rolling shutter readout database. '
                     'Note that not all cameras are present in the database. Set to 0 to use the database value. '
                     'Default: %(default)s')
 
@@ -768,7 +768,7 @@ def config(argv=None, parser=None):
                         default=4000,
                         metavar='<positive integer>',
                         help='The maximum output resolution of extracted video frames in pixels. Default: %(default)s')
-    
+
     parser.add_argument('--split',
                         type=int,
                         action=StoreValue,
@@ -785,11 +785,12 @@ def config(argv=None, parser=None):
                         action=StoreValue,
                         metavar='<positive integer>',
                         default=150,
-                        help='Radius of the overlap between submodels. '
+                        help='Radius of the overlap between submodels in meters. '
                         'After grouping images into clusters, images '
                         'that are closer than this radius to a cluster '
                         'are added to the cluster. This is done to ensure '
-                        'that neighboring submodels overlap. Default: %(default)s')
+                        'that neighboring submodels overlap. All images' \
+                        'need GPS information. Default: %(default)s')
 
     parser.add_argument('--split-image-groups',
                         metavar='<path string>',
@@ -833,7 +834,7 @@ def config(argv=None, parser=None):
                     help=('Use images\' GPS exif data for reconstruction, even if there are GCPs present.'
                           'This flag is useful if you have high precision GPS measurements. '
                           'If there are no GCPs, this flag does nothing. Default: %(default)s'))
-    
+
     parser.add_argument('--gps-accuracy',
                         type=float,
                         action=StoreValue,
@@ -868,7 +869,7 @@ def config(argv=None, parser=None):
                         default="auto",
                         type=str,
                         help=('When processing multispectral datasets, you can specify the name of the primary band that will be used for reconstruction. '
-                              'It\'s recommended to choose a band which has sharp details and is in focus. ' 
+                              'It\'s recommended to choose a band which has sharp details and is in focus. '
                               'Default: %(default)s'))
 
     parser.add_argument('--skip-band-alignment',
@@ -923,5 +924,5 @@ def config(argv=None, parser=None):
         except exceptions.NodeConnectionError as e:
             log.ODM_ERROR("Cluster node seems to be offline: %s"  % str(e))
             sys.exit(1)
-    
+
     return args

opendm/context.py

@@ -40,7 +40,7 @@ odm_orthophoto_path = os.path.join(superbuild_bin_path, "odm_orthophoto")
 settings_path = os.path.join(root_path, 'settings.yaml')
 
 # Define supported image extensions
-supported_extensions = {'.jpg','.jpeg','.png', '.tif', '.tiff', '.bmp'}
+supported_extensions = {'.jpg','.jpeg','.png', '.tif', '.tiff', '.bmp', '.raw', '.dng', '.nef'}
 supported_video_extensions = {'.mp4', '.mov', '.lrv', '.ts'}
 
 # Define the number of cores

opendm/dem/commands.py

@@ -1,4 +1,5 @@
 import os
+import subprocess
 import sys
 import rasterio
 import numpy
@@ -20,6 +21,8 @@ from opendm import log
 from .ground_rectification.rectify import run_rectification
 from . import pdal
 
+gdal_proximity = None
+
 try:
     # GDAL >= 3.3
     from osgeo_utils.gdal_proximity import main as gdal_proximity
@@ -27,8 +30,13 @@ except ModuleNotFoundError:
     # GDAL <= 3.2
     try:
         from osgeo.utils.gdal_proximity import main as gdal_proximity
-    except:
-        pass
+    except ModuleNotFoundError:
+        # GDAL <= 3.0
+        gdal_proximity_script = shutil.which("gdal_proximity.py")
+        if gdal_proximity_script is not None:
+            def gdal_proximity(args):
+                subprocess.run([gdal_proximity_script] + args[1:], check=True)
+
 
 def classify(lasFile, scalar, slope, threshold, window):
     start = datetime.now()
@@ -263,4 +271,4 @@ def get_dem_radius_steps(stats_file, steps, resolution, multiplier = 1.0):
     for _ in range(steps - 1):
         radius_steps.append(radius_steps[-1] * math.sqrt(2))
     
-    return radius_steps
+    return radius_steps

opendm/get_image_size.py

@@ -1,6 +1,6 @@
 from PIL import Image
 import cv2
-
+import rawpy
 from opendm import log
 
 Image.MAX_IMAGE_PIXELS = None
@@ -9,12 +9,18 @@ def get_image_size(file_path, fallback_on_error=True):
     """
     Return (width, height) for a given img file
     """
+    
     try:
-        with Image.open(file_path) as img:
-            width, height = img.size
+        if file_path[-4:].lower() in [".dng", ".raw", ".nef"]:
+            with rawpy.imread(file_path) as img:
+                s = img.sizes
+                width, height = s.raw_width, s.raw_height
+        else:
+            with Image.open(file_path) as img:
+                width, height = img.size
     except Exception as e:
         if fallback_on_error:
-            log.ODM_WARNING("Cannot read %s with PIL, fallback to cv2: %s" % (file_path, str(e)))
+            log.ODM_WARNING("Cannot read %s with image library, fallback to cv2: %s" % (file_path, str(e)))
             img = cv2.imread(file_path)
             width = img.shape[1]
             height = img.shape[0]

opendm/gltf.py

@@ -6,6 +6,7 @@ import numpy as np
 import pygltflib
 from opendm import system
 from opendm import io
+from opendm import log
 
 warnings.filterwarnings("ignore", category=rasterio.errors.NotGeoreferencedWarning)
 

opendm/multispectral.py

@@ -273,7 +273,10 @@ def compute_band_maps(multi_camera, primary_band):
                 # Quick check
                 if filename_without_band == p.filename:
                     raise Exception("Cannot match bands by filename on %s, make sure to name your files [filename]_band[.ext] uniformly." % p.filename)
-
+                
+                if not filename_without_band in filename_map:
+                    raise Exception("Cannot match bands by filename on %s, make sure to name your files [filename]_band[.ext] uniformly, check that your images have the appropriate CaptureUUID XMP tag and that no images are missing." % p.filename)
+                    
                 s2p[p.filename] = filename_map[filename_without_band]
 
                 if band['name'] != band_name:

opendm/orthophoto.py

@@ -14,6 +14,7 @@ from opendm import io
 from opendm.tiles.tiler import generate_orthophoto_tiles
 from opendm.cogeo import convert_to_cogeo
 from osgeo import gdal
+from osgeo import ogr
 
 
 def get_orthophoto_vars(args):
@@ -43,33 +44,50 @@ def generate_png(orthophoto_file, output_file=None, outsize=None):
         output_file = base + '.png'
     
     # See if we need to select top three bands
-    bandparam = ""
+    params = []
 
-    gtif = gdal.Open(orthophoto_file)
-    if gtif.RasterCount > 4:
+    try:
+        gtif = gdal.Open(orthophoto_file)
         bands = []
         for idx in range(1, gtif.RasterCount+1):
             bands.append(gtif.GetRasterBand(idx).GetColorInterpretation())
         bands = dict(zip(bands, range(1, len(bands)+1)))
 
-        try:
+        if gtif.RasterCount >= 3:
             red = bands.get(gdal.GCI_RedBand)
             green = bands.get(gdal.GCI_GreenBand)
             blue = bands.get(gdal.GCI_BlueBand)
             if red is None or green is None or blue is None:
-                raise Exception("Cannot find bands")
+                params.append("-b 1 -b 2 -b 3")
+            else:
+                params.append("-b %s -b %s -b %s" % (red, green, blue))                
+        elif gtif.RasterCount <= 2:
+            params.append("-b 1")
+        
+        alpha = bands.get(gdal.GCI_AlphaBand)
+        if alpha is not None:
+            params.append("-b %s" % alpha)
+        else:
+            params.append("-a_nodata 0")
 
-            bandparam = "-b %s -b %s -b %s -a_nodata 0" % (red, green, blue)
-        except:
-            bandparam = "-b 1 -b 2 -b 3 -a_nodata 0"
-    gtif = None
+        dtype = gtif.GetRasterBand(1).DataType
+        if dtype != gdal.GDT_Byte:
+            params.append("-ot Byte")
+            if gtif.RasterCount >= 3:
+                params.append("-scale_1 -scale_2 -scale_3")
+            elif gtif.RasterCount <= 2:
+                params.append("-scale_1")
+        
+        gtif = None
+    except Exception as e:
+        log.ODM_WARNING("Cannot read orthophoto information for PNG generation: %s" % str(e))
 
-    osparam = ""
     if outsize is not None:
-        osparam = "-outsize %s 0" % outsize
+        params.append("-outsize %s 0" % outsize)
 
-    system.run('gdal_translate -of png "%s" "%s" %s %s '
-               '--config GDAL_CACHEMAX %s%% ' % (orthophoto_file, output_file, osparam, bandparam, get_max_memory()))
+    system.run('gdal_translate -of png "%s" "%s" %s '
+               '-co WORLDFILE=YES '
+               '--config GDAL_CACHEMAX %s%% ' % (orthophoto_file, output_file, " ".join(params), get_max_memory()))
 
 def generate_kmz(orthophoto_file, output_file=None, outsize=None):
     if output_file is None:
@@ -84,7 +102,70 @@ def generate_kmz(orthophoto_file, output_file=None, outsize=None):
 
     system.run('gdal_translate -of KMLSUPEROVERLAY -co FORMAT=PNG "%s" "%s" %s '
                '--config GDAL_CACHEMAX %s%% ' % (orthophoto_file, output_file, bandparam, get_max_memory()))    
-    
+
+def generate_extent_polygon(orthophoto_file):
+    """Function to return the orthophoto extent as a polygon into a gpkg file
+
+    Args:
+        orthophoto_file (str): the path to orthophoto file
+    """
+    base, ext = os.path.splitext(orthophoto_file)
+    output_file = base + '_extent.dxf'
+
+    try:
+        gtif = gdal.Open(orthophoto_file)
+        srs =  gtif.GetSpatialRef()
+        geoTransform = gtif.GetGeoTransform()
+
+        # calculate the coordinates
+        minx = geoTransform[0]
+        maxy = geoTransform[3]
+        maxx = minx + geoTransform[1] * gtif.RasterXSize
+        miny = maxy + geoTransform[5] * gtif.RasterYSize
+        
+        # create polygon in wkt format
+        poly_wkt = "POLYGON ((%s %s, %s %s, %s %s, %s %s, %s %s))" % (minx, miny, minx, maxy, maxx, maxy, maxx, miny, minx, miny)
+        
+        # create vector file
+        # just the DXF to support AutoCAD users
+        # to load the geotiff raster correctly.
+        driver = ogr.GetDriverByName("DXF")
+        ds = driver.CreateDataSource(output_file)
+        layer = ds.CreateLayer("extent", srs, ogr.wkbPolygon)
+
+        # create the feature and set values
+        featureDefn = layer.GetLayerDefn()
+        feature = ogr.Feature(featureDefn)
+        feature.SetGeometry(ogr.CreateGeometryFromWkt(poly_wkt))
+
+        # add feature to layer
+        layer.CreateFeature(feature)
+
+        # save and close everything
+        feature = None
+        ds = None
+        gtif = None
+        log.ODM_INFO("Wrote %s" % output_file)
+    except Exception as e:
+        log.ODM_WARNING("Cannot create extent layer for %s: %s" % (orthophoto_file, str(e)))
+
+
+def generate_tfw(orthophoto_file):
+    base, ext = os.path.splitext(orthophoto_file)
+    tfw_file = base + '.tfw'
+
+    try:
+        with rasterio.open(orthophoto_file) as ds:
+            t = ds.transform
+            with open(tfw_file, 'w') as f:
+                # rasterio affine values taken by
+                # https://mharty3.github.io/til/GIS/raster-affine-transforms/
+                f.write("\n".join([str(v) for v in [t.a, t.d, t.b, t.e, t.c, t.f]]) + "\n")
+            log.ODM_INFO("Wrote %s" % tfw_file)
+    except Exception as e:
+        log.ODM_WARNING("Cannot create .tfw for %s: %s" % (orthophoto_file, str(e)))
+
+
 def post_orthophoto_steps(args, bounds_file_path, orthophoto_file, orthophoto_tiles_dir, resolution):
     if args.crop > 0 or args.boundary:
         Cropper.crop(bounds_file_path, orthophoto_file, get_orthophoto_vars(args), keep_original=not args.optimize_disk_space, warp_options=['-dstalpha'])
@@ -104,6 +185,9 @@ def post_orthophoto_steps(args, bounds_file_path, orthophoto_file, orthophoto_ti
     if args.cog:
         convert_to_cogeo(orthophoto_file, max_workers=args.max_concurrency, compression=args.orthophoto_compression)
 
+    generate_extent_polygon(orthophoto_file)
+    generate_tfw(orthophoto_file)
+
 def compute_mask_raster(input_raster, vector_mask, output_raster, blend_distance=20, only_max_coords_feature=False):
     if not os.path.exists(input_raster):
         log.ODM_WARNING("Cannot mask raster, %s does not exist" % input_raster)

opendm/point_cloud.py

@@ -327,7 +327,7 @@ def post_point_cloud_steps(args, tree, rerun=False):
                     tree.odm_georeferencing_model_laz,
                     tree.odm_georeferencing_model_las))
         else:
-            log.ODM_WARNING("Found existing LAS file %s" % tree.odm_georeferencing_xyz_file)
+            log.ODM_WARNING("Found existing LAS file %s" % tree.odm_georeferencing_model_las)
 
     # EPT point cloud output
     if args.pc_ept:

opendm/skyremoval/skyfilter.py

@@ -6,6 +6,7 @@ import os
 import onnxruntime as ort
 from .guidedfilter import guided_filter
 from opendm import log
+from opendm.ai import read_image
 from threading import Lock
 
 mutex = Lock()
@@ -72,11 +73,7 @@ class SkyFilter():
 
     def run_img(self, img_path, dest):
 
-        img = cv2.imread(img_path, cv2.IMREAD_COLOR)
-        if img is None:
-            return None
-
-        img = cv2.cvtColor(img, cv2.COLOR_BGR2RGB)
+        img = read_image(img_path)
         img = np.array(img / 255., dtype=np.float32)
 
         mask  = self.get_mask(img)

opendm/video/srtparser.py

@@ -120,6 +120,7 @@ class SrtFileParser:
         # <font size="36">SrtCnt : 1, DiffTime : 16ms
         # 2023-01-06 18:56:48,380,821
         # [iso : 3200] [shutter : 1/60.0] [fnum : 280] [ev : 0] [ct : 3925] [color_md : default] [focal_len : 240] [latitude: 0.000000] [longitude: 0.000000] [altitude: 0.000000] </font>
+        # </font> 
 
         # DJI Mavic Mini
         # 1
@@ -164,9 +165,10 @@ class SrtFileParser:
             end = None
 
             for line in f:
+                # Remove html tags, spaces
+                line = re.sub('<[^<]+?>', '', line).strip()
 
-                # Check if line is empty
-                if not line.strip():
+                if not line:
                     if start is not None:
                         self.data.append({
                             "start": start,
@@ -193,9 +195,6 @@ class SrtFileParser:
 
                     continue
 
-                # Remove html tags
-                line = re.sub('<[^<]+?>', '', line)
-
                 # Search this "00:00:00,000 --> 00:00:00,016"
                 match = re.search("(\d{2}:\d{2}:\d{2},\d+) --> (\d{2}:\d{2}:\d{2},\d+)", line)
                 if match:
@@ -225,14 +224,14 @@ class SrtFileParser:
                     ("GPS \([\d\.\-]+,? ([\d\.\-]+),? [\d\.\-]+\)", lambda v: float(v) if v != 0 else None),
                     ("RTK \([-+]?\d+\.\d+, (-?\d+\.\d+), -?\d+\)", lambda v: float(v) if v != 0 else None),
                 ], line)
-
+                
                 longitude = match_single([
                     ("longitude: ([\d\.\-]+)", lambda v: float(v) if v != 0 else None),
                     ("longtitude : ([\d\.\-]+)", lambda v: float(v) if v != 0 else None),
                     ("GPS \(([\d\.\-]+),? [\d\.\-]+,? [\d\.\-]+\)", lambda v: float(v) if v != 0 else None),
                     ("RTK \((-?\d+\.\d+), [-+]?\d+\.\d+, -?\d+\)", lambda v: float(v) if v != 0 else None),
                 ], line)
-
+                
                 altitude = match_single([
                     ("altitude: ([\d\.\-]+)", lambda v: float(v) if v != 0 else None),
                     ("GPS \([\d\.\-]+,? [\d\.\-]+,? ([\d\.\-]+)\)", lambda v: float(v) if v != 0 else None),

requirements.txt

@@ -23,6 +23,7 @@ rasterio==1.2.3 ; sys_platform == 'linux'
 rasterio==1.3.6 ; sys_platform == 'darwin'
 https://github.com/OpenDroneMap/windows-deps/raw/main/rasterio-1.2.3-cp38-cp38-win_amd64.whl ; sys_platform == 'win32'
 https://github.com/OpenDroneMap/windows-deps/raw/main/GDAL-3.2.3-cp38-cp38-win_amd64.whl ; sys_platform == 'win32'
+odmrawpy==0.24.1
 repoze.lru==0.7
 scikit-learn==1.1.1
 Pywavelets==1.3.0

stages/dataset.py

@@ -234,9 +234,9 @@ class ODMLoadDatasetStage(types.ODM_Stage):
                                         item['p'].set_mask(os.path.basename(mask_file))
                                         log.ODM_INFO("Wrote %s" % os.path.basename(mask_file))
                                     else:
-                                        log.ODM_WARNING("Cannot generate mask for %s" % img)
+                                        log.ODM_WARNING("Cannot generate mask for %s" % item['file'])
                                 except Exception as e:
-                                    log.ODM_WARNING("Cannot generate mask for %s: %s" % (img, str(e)))
+                                    log.ODM_WARNING("Cannot generate mask for %s: %s" % (item['file'], str(e)))
 
                             parallel_map(parallel_sky_filter, sky_images, max_workers=args.max_concurrency)
 

stages/openmvs.py

@@ -63,11 +63,13 @@ class ODMOpenMVSStage(types.ODM_Stage):
             densify_ini_file = os.path.join(tree.openmvs, 'Densify.ini')
             subres_levels = 2 # The number of lower resolutions to process before estimating output resolution depthmap.
             filter_point_th = -20
+            min_resolution = 320 if args.pc_quality in ["low", "lowest"] else 640
 
             config = [
                 "--resolution-level %s" % int(resolution_level),
                 '--dense-config-file "%s"' % densify_ini_file,
                 "--max-resolution %s" % int(outputs['undist_image_max_size']),
+                "--min-resolution %s" % min_resolution,
                 "--max-threads %s" % args.max_concurrency,
                 "--number-views-fuse %s" % number_views_fuse,
                 "--sub-resolution-levels %s" % subres_levels,

stages/splitmerge.py

@@ -1,19 +1,15 @@
 import os
 import shutil
-import json
-import yaml
 from opendm import log
 from opendm.osfm import OSFMContext, get_submodel_argv, get_submodel_paths, get_all_submodel_paths
 from opendm import types
 from opendm import io
 from opendm import system
 from opendm import orthophoto
-from opendm.gcp import GCPFile
-from opendm.dem import pdal, utils
+from opendm.dem import utils
 from opendm.dem.merge import euclidean_merge_dems
 from opensfm.large import metadataset
 from opendm.cropper import Cropper
-from opendm.concurrency import get_max_memory
 from opendm.remote import LocalRemoteExecutor
 from opendm.shots import merge_geojson_shots, merge_cameras
 from opendm import point_cloud