import ecto from opendm import log from opendm import io from opendm import system from opendm import context class ODMOpenSfMCell(ecto.Cell): def declare_params(self, params): params.declare("use_exif_size", "The application arguments.", False) params.declare("feature_process_size", "The application arguments.", 2400) params.declare("feature_min_frames", "The application arguments.", 4000) params.declare("processes", "The application arguments.", context.num_cores) params.declare("matching_gps_neighbors", "The application arguments.", 8) params.declare("matching_gps_distance", "The application arguments.", 0) params.declare("fixed_camera_params", "Optimize internal camera parameters", True) params.declare("hybrid_bundle_adjustment", "Use local + global bundle adjustment", False) def declare_io(self, params, inputs, outputs): inputs.declare("tree", "Struct with paths", []) inputs.declare("args", "The application arguments.", {}) inputs.declare("reconstruction", "ODMReconstruction", []) outputs.declare("reconstruction", "list of ODMReconstructions", []) def process(self, inputs, outputs): # Benchmarking start_time = system.now_raw() log.ODM_INFO('Running ODM OpenSfM Cell') # get inputs tree = inputs.tree args = inputs.args reconstruction = inputs.reconstruction photos = reconstruction.photos if not photos: log.ODM_ERROR('Not enough photos in photos array to start OpenSfM') return ecto.QUIT # create working directories system.mkdir_p(tree.opensfm) # check if we rerun cell or not rerun_cell = (args.rerun is not None and args.rerun == 'opensfm') or \ (args.rerun_all) or \ (args.rerun_from is not None and 'opensfm' in args.rerun_from) if args.use_opensfm_dense: output_file = tree.opensfm_model if args.fast_orthophoto: output_file = io.join_paths(tree.opensfm, 'reconstruction.ply') else: output_file = tree.opensfm_reconstruction # check if reconstruction was done before if not io.file_exists(output_file) or rerun_cell: # create file list list_path = io.join_paths(tree.opensfm, 'image_list.txt') has_alt = True with open(list_path, 'w') as fout: for photo in photos: if not photo.altitude: has_alt = False fout.write('%s\n' % photo.path_file) # create config file for OpenSfM config = [ "use_exif_size: %s" % ('no' if not self.params.use_exif_size else 'yes'), "feature_process_size: %s" % self.params.feature_process_size, "feature_min_frames: %s" % self.params.feature_min_frames, "processes: %s" % self.params.processes, "matching_gps_neighbors: %s" % self.params.matching_gps_neighbors, "depthmap_method: %s" % args.opensfm_depthmap_method, "depthmap_resolution: %s" % args.opensfm_depthmap_resolution, "depthmap_min_patch_sd: %s" % args.opensfm_depthmap_min_patch_sd, "depthmap_min_consistent_views: %s" % args.opensfm_depthmap_min_consistent_views, "optimize_camera_parameters: %s" % ('no' if self.params.fixed_camera_params else 'yes') ] if has_alt: log.ODM_DEBUG("Altitude data detected, enabling it for GPS alignment") config.append("use_altitude_tag: True") config.append("align_method: naive") if args.use_hybrid_bundle_adjustment: log.ODM_DEBUG("Enabling hybrid bundle adjustment") config.append("bundle_interval: 100") # Bundle after adding 'bundle_interval' cameras config.append("bundle_new_points_ratio: 1.2") # Bundle when (new points) / (bundled points) > bundle_new_points_ratio config.append("local_bundle_radius: 1") # Max image graph distance for images to be included in local bundle adjustment if args.matcher_distance > 0: config.append("matching_gps_distance: %s" % self.params.matching_gps_distance) if tree.odm_georeferencing_gcp: config.append("bundle_use_gcp: yes") io.copy(tree.odm_georeferencing_gcp, tree.opensfm) # write config file log.ODM_DEBUG(config) config_filename = io.join_paths(tree.opensfm, 'config.yaml') with open(config_filename, 'w') as fout: fout.write("\n".join(config)) # run OpenSfM reconstruction matched_done_file = io.join_paths(tree.opensfm, 'matching_done.txt') if not io.file_exists(matched_done_file) or rerun_cell: system.run('PYTHONPATH=%s %s/bin/opensfm extract_metadata %s' % (context.pyopencv_path, context.opensfm_path, tree.opensfm)) system.run('PYTHONPATH=%s %s/bin/opensfm detect_features %s' % (context.pyopencv_path, context.opensfm_path, tree.opensfm)) system.run('PYTHONPATH=%s %s/bin/opensfm match_features %s' % (context.pyopencv_path, context.opensfm_path, tree.opensfm)) with open(matched_done_file, 'w') as fout: fout.write("Matching done!\n") else: log.ODM_WARNING('Found a feature matching done progress file in: %s' % matched_done_file) if not io.file_exists(tree.opensfm_tracks) or rerun_cell: system.run('PYTHONPATH=%s %s/bin/opensfm create_tracks %s' % (context.pyopencv_path, context.opensfm_path, tree.opensfm)) else: log.ODM_WARNING('Found a valid OpenSfM tracks file in: %s' % tree.opensfm_tracks) if not io.file_exists(tree.opensfm_reconstruction) or rerun_cell: system.run('PYTHONPATH=%s %s/bin/opensfm reconstruct %s' % (context.pyopencv_path, context.opensfm_path, tree.opensfm)) else: log.ODM_WARNING('Found a valid OpenSfM reconstruction file in: %s' % tree.opensfm_reconstruction) if args.use_opensfm_dense: if not io.file_exists(tree.opensfm_reconstruction_nvm) or rerun_cell: system.run('PYTHONPATH=%s %s/bin/opensfm export_visualsfm %s' % (context.pyopencv_path, context.opensfm_path, tree.opensfm)) else: log.ODM_WARNING('Found a valid OpenSfM NVM reconstruction file in: %s' % tree.opensfm_reconstruction_nvm) system.run('PYTHONPATH=%s %s/bin/opensfm undistort %s' % (context.pyopencv_path, context.opensfm_path, tree.opensfm)) # Skip dense reconstruction if necessary and export # sparse reconstruction instead if args.fast_orthophoto: system.run('PYTHONPATH=%s %s/bin/opensfm export_ply --no-cameras %s' % (context.pyopencv_path, context.opensfm_path, tree.opensfm)) else: system.run('PYTHONPATH=%s %s/bin/opensfm compute_depthmaps %s' % (context.pyopencv_path, context.opensfm_path, tree.opensfm)) else: log.ODM_WARNING('Found a valid OpenSfM reconstruction file in: %s' % tree.opensfm_reconstruction) # check if reconstruction was exported to bundler before if not io.file_exists(tree.opensfm_bundle_list) or rerun_cell: # convert back to bundler's format system.run('PYTHONPATH=%s %s/bin/export_bundler %s' % (context.pyopencv_path, context.opensfm_path, tree.opensfm)) else: log.ODM_WARNING('Found a valid Bundler file in: %s' % tree.opensfm_reconstruction) if reconstruction.georef: system.run('PYTHONPATH=%s %s/bin/opensfm export_geocoords %s --transformation --proj \'%s\'' % (context.pyopencv_path, context.opensfm_path, tree.opensfm, reconstruction.georef.projection.srs)) outputs.reconstruction = reconstruction if args.time: system.benchmark(start_time, tree.benchmarking, 'OpenSfM') log.ODM_INFO('Running ODM OpenSfM Cell - Finished') return ecto.OK if args.end_with != 'opensfm' else ecto.QUIT