""" OpenSfM related utils """ import os, shutil, sys, json, argparse, copy import yaml import numpy as np import pyproj from pyproj import CRS from opendm import io from opendm import log from opendm import system from opendm import context from opendm import camera from opendm import location from opendm.photo import find_largest_photo_dim, find_largest_photo from opensfm.large import metadataset from opensfm.large import tools from opensfm.actions import undistort from opensfm.dataset import DataSet from opensfm.types import Reconstruction from opensfm import report from opendm.multispectral import get_photos_by_band from opendm.gpu import has_popsift_and_can_handle_texsize, has_gpu from opensfm import multiview, exif from opensfm.actions.export_geocoords import _transform class OSFMContext: def __init__(self, opensfm_project_path): self.opensfm_project_path = opensfm_project_path def run(self, command): osfm_bin = os.path.join(context.opensfm_path, 'bin', 'opensfm') system.run('"%s" %s "%s"' % (osfm_bin, command, self.opensfm_project_path)) def is_reconstruction_done(self): tracks_file = os.path.join(self.opensfm_project_path, 'tracks.csv') reconstruction_file = os.path.join(self.opensfm_project_path, 'reconstruction.json') return io.file_exists(tracks_file) and io.file_exists(reconstruction_file) def create_tracks(self, rerun=False): tracks_file = os.path.join(self.opensfm_project_path, 'tracks.csv') rs_file = self.path('rs_done.txt') if not io.file_exists(tracks_file) or rerun: self.run('create_tracks') else: log.ODM_WARNING('Found a valid OpenSfM tracks file in: %s' % tracks_file) def reconstruct(self, rolling_shutter_correct=False, rerun=False): reconstruction_file = os.path.join(self.opensfm_project_path, 'reconstruction.json') if not io.file_exists(reconstruction_file) or rerun: self.run('reconstruct') self.check_merge_partial_reconstructions() else: log.ODM_WARNING('Found a valid OpenSfM reconstruction file in: %s' % reconstruction_file) # Check that a reconstruction file has been created if not self.reconstructed(): raise system.ExitException("The program could not process this dataset using the current settings. " "Check that the images have enough overlap, " "that there are enough recognizable features " "and that the images are in focus. " "You could also try to increase the --min-num-features parameter." "The program will now exit.") if rolling_shutter_correct: rs_file = self.path('rs_done.txt') if not io.file_exists(rs_file) or rerun: self.run('rs_correct') log.ODM_INFO("Re-running the reconstruction pipeline") self.match_features(True) self.create_tracks(True) self.reconstruct(rolling_shutter_correct=False, rerun=True) self.touch(rs_file) else: log.ODM_WARNING("Rolling shutter correction already applied") def check_merge_partial_reconstructions(self): if self.reconstructed(): data = DataSet(self.opensfm_project_path) reconstructions = data.load_reconstruction() tracks_manager = data.load_tracks_manager() if len(reconstructions) > 1: log.ODM_WARNING("Multiple reconstructions detected (%s), this might be an indicator that some areas did not have sufficient overlap" % len(reconstructions)) log.ODM_INFO("Attempting merge") merged = Reconstruction() merged.set_reference(reconstructions[0].reference) for ix_r, rec in enumerate(reconstructions): if merged.reference != rec.reference: # Should never happen continue log.ODM_INFO("Merging reconstruction %s" % ix_r) for camera in rec.cameras.values(): merged.add_camera(camera) for point in rec.points.values(): try: new_point = merged.create_point(point.id, point.coordinates) new_point.color = point.color except RuntimeError as e: log.ODM_WARNING("Cannot merge shot id %s (%s)" % (shot.id, str(e))) continue for shot in rec.shots.values(): merged.add_shot(shot) try: obsdict = tracks_manager.get_shot_observations(shot.id) except RuntimeError: log.ODM_WARNING("Shot id %s missing from tracks_manager!" % shot.id) continue for track_id, obs in obsdict.items(): if track_id in merged.points: merged.add_observation(shot.id, track_id, obs) data.save_reconstruction([merged]) def setup(self, args, images_path, reconstruction, append_config = [], rerun=False): """ Setup a OpenSfM project """ if rerun and io.dir_exists(self.opensfm_project_path): shutil.rmtree(self.opensfm_project_path) if not io.dir_exists(self.opensfm_project_path): system.mkdir_p(self.opensfm_project_path) list_path = os.path.join(self.opensfm_project_path, 'image_list.txt') if not io.file_exists(list_path) or rerun: if reconstruction.multi_camera: photos = get_photos_by_band(reconstruction.multi_camera, args.primary_band) if len(photos) < 1: raise Exception("Not enough images in selected band %s" % args.primary_band.lower()) log.ODM_INFO("Reconstruction will use %s images from %s band" % (len(photos), args.primary_band.lower())) else: photos = reconstruction.photos # create file list num_zero_alt = 0 has_alt = True has_gps = False with open(list_path, 'w') as fout: for photo in photos: if photo.altitude is None: has_alt = False elif photo.altitude == 0: num_zero_alt += 1 if photo.latitude is not None and photo.longitude is not None: has_gps = True fout.write('%s\n' % os.path.join(images_path, photo.filename)) # check 0 altitude images percentage when has_alt is True if has_alt and num_zero_alt / len(photos) > 0.05: log.ODM_WARNING("More than 5% of images have zero altitude, this might be an indicator that the images have no altitude information") has_alt = False # check for image_groups.txt (split-merge) image_groups_file = os.path.join(args.project_path, "image_groups.txt") if 'split_image_groups_is_set' in args: image_groups_file = os.path.abspath(args.split_image_groups) if io.file_exists(image_groups_file): dst_groups_file = os.path.join(self.opensfm_project_path, "image_groups.txt") io.copy(image_groups_file, dst_groups_file) log.ODM_INFO("Copied %s to %s" % (image_groups_file, dst_groups_file)) # check for cameras if args.cameras: try: camera_overrides = camera.get_opensfm_camera_models(args.cameras) with open(os.path.join(self.opensfm_project_path, "camera_models_overrides.json"), 'w') as f: f.write(json.dumps(camera_overrides)) log.ODM_INFO("Wrote camera_models_overrides.json to OpenSfM directory") except Exception as e: log.ODM_WARNING("Cannot set camera_models_overrides.json: %s" % str(e)) # Check image masks masks = [] for p in photos: if p.mask is not None: masks.append((p.filename, os.path.join(images_path, p.mask))) if masks: log.ODM_INFO("Found %s image masks" % len(masks)) with open(os.path.join(self.opensfm_project_path, "mask_list.txt"), 'w') as f: for fname, mask in masks: f.write("{} {}\n".format(fname, mask)) # Compute feature_process_size feature_process_size = 2048 # default feature_quality_scale = { 'ultra': 1, 'high': 0.5, 'medium': 0.25, 'low': 0.125, 'lowest': 0.0675, } max_dim = find_largest_photo_dim(photos) if max_dim > 0: log.ODM_INFO("Maximum photo dimensions: %spx" % str(max_dim)) feature_process_size = int(max_dim * feature_quality_scale[args.feature_quality]) log.ODM_INFO("Photo dimensions for feature extraction: %ipx" % feature_process_size) else: log.ODM_WARNING("Cannot compute max image dimensions, going with defaults") # create config file for OpenSfM if args.matcher_neighbors > 0: matcher_graph_rounds = 0 matcher_neighbors = args.matcher_neighbors else: matcher_graph_rounds = 50 matcher_neighbors = 0 config = [ "use_exif_size: no", "flann_algorithm: KDTREE", # more stable, faster than KMEANS "feature_process_size: %s" % feature_process_size, "feature_min_frames: %s" % args.min_num_features, "processes: %s" % args.max_concurrency, "matching_gps_neighbors: %s" % matcher_neighbors, "matching_gps_distance: 0", "matching_graph_rounds: %s" % matcher_graph_rounds, "optimize_camera_parameters: %s" % ('no' if args.use_fixed_camera_params else 'yes'), "reconstruction_algorithm: %s" % (args.sfm_algorithm), "undistorted_image_format: tif", "bundle_outlier_filtering_type: AUTO", "sift_peak_threshold: 0.066", "align_orientation_prior: vertical", "triangulation_type: ROBUST", "retriangulation_ratio: 2", ] if args.camera_lens != 'auto': config.append("camera_projection_type: %s" % args.camera_lens.upper()) matcher_type = args.matcher_type feature_type = args.feature_type.upper() osfm_matchers = { "bow": "WORDS", "flann": "FLANN", "bruteforce": "BRUTEFORCE" } if not has_gps and not 'matcher_type_is_set' in args: log.ODM_INFO("No GPS information, using BOW matching by default (you can override this by setting --matcher-type explicitly)") 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" config.append("matcher_type: %s" % osfm_matchers[matcher_type]) # GPU acceleration? if has_gpu(args): max_photo = find_largest_photo(photos) w, h = max_photo.width, max_photo.height if w > h: h = int((h / w) * feature_process_size) w = int(feature_process_size) else: w = int((w / h) * feature_process_size) h = int(feature_process_size) if has_popsift_and_can_handle_texsize(w, h) and feature_type == "SIFT": log.ODM_INFO("Using GPU for extracting SIFT features") feature_type = "SIFT_GPU" self.gpu_sift_feature_extraction = True config.append("feature_type: %s" % feature_type) if has_alt: log.ODM_INFO("Altitude data detected, enabling it for GPS alignment") config.append("use_altitude_tag: yes") gcp_path = reconstruction.gcp.gcp_path if has_alt or gcp_path: config.append("align_method: auto") else: config.append("align_method: orientation_prior") if args.use_hybrid_bundle_adjustment: log.ODM_INFO("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 else: config.append("local_bundle_radius: 0") if gcp_path: config.append("bundle_use_gcp: yes") if not args.force_gps: config.append("bundle_use_gps: no") else: config.append("bundle_compensate_gps_bias: yes") io.copy(gcp_path, self.path("gcp_list.txt")) config = config + append_config # write config file log.ODM_INFO(config) config_filename = self.get_config_file_path() with open(config_filename, 'w') as fout: fout.write("\n".join(config)) # We impose our own reference_lla if reconstruction.is_georeferenced(): self.write_reference_lla(reconstruction.georef.utm_east_offset, reconstruction.georef.utm_north_offset, reconstruction.georef.proj4()) else: log.ODM_WARNING("%s already exists, not rerunning OpenSfM setup" % list_path) def get_config_file_path(self): return os.path.join(self.opensfm_project_path, 'config.yaml') def reconstructed(self): if not io.file_exists(self.path("reconstruction.json")): return False with open(self.path("reconstruction.json"), 'r') as f: return f.readline().strip() != "[]" def extract_metadata(self, rerun=False): metadata_dir = self.path("exif") if not io.dir_exists(metadata_dir) or rerun: self.run('extract_metadata') def photos_to_metadata(self, photos, rolling_shutter, rolling_shutter_readout, rerun=False): metadata_dir = self.path("exif") if io.dir_exists(metadata_dir) and not rerun: log.ODM_WARNING("%s already exists, not rerunning photo to metadata" % metadata_dir) return if io.dir_exists(metadata_dir): shutil.rmtree(metadata_dir) os.makedirs(metadata_dir, exist_ok=True) camera_models = {} data = DataSet(self.opensfm_project_path) for p in photos: d = p.to_opensfm_exif(rolling_shutter, rolling_shutter_readout) with open(os.path.join(metadata_dir, "%s.exif" % p.filename), 'w') as f: f.write(json.dumps(d, indent=4)) camera_id = p.camera_id() if camera_id not in camera_models: camera = exif.camera_from_exif_metadata(d, data) camera_models[camera_id] = camera # Override any camera specified in the camera models overrides file. if data.camera_models_overrides_exists(): overrides = data.load_camera_models_overrides() if "all" in overrides: for key in camera_models: camera_models[key] = copy.copy(overrides["all"]) camera_models[key].id = key else: for key, value in overrides.items(): camera_models[key] = value data.save_camera_models(camera_models) def is_feature_matching_done(self): features_dir = self.path("features") matches_dir = self.path("matches") return io.dir_exists(features_dir) and io.dir_exists(matches_dir) def feature_matching(self, rerun=False): features_dir = self.path("features") if not io.dir_exists(features_dir) or rerun: try: self.run('detect_features') except system.SubprocessException as e: # Sometimes feature extraction by GPU can fail # for various reasons, so before giving up # we try to fallback to CPU if hasattr(self, 'gpu_sift_feature_extraction'): log.ODM_WARNING("GPU SIFT extraction failed, maybe the graphics card is not supported? Attempting fallback to CPU") self.update_config({'feature_type': "SIFT"}) if os.path.exists(features_dir): shutil.rmtree(features_dir) self.run('detect_features') else: raise e else: log.ODM_WARNING('Detect features already done: %s exists' % features_dir) self.match_features(rerun) def match_features(self, rerun=False): matches_dir = self.path("matches") if not io.dir_exists(matches_dir) or rerun: self.run('match_features') else: log.ODM_WARNING('Match features already done: %s exists' % matches_dir) def align_reconstructions(self, rerun): alignment_file = self.path('alignment_done.txt') if not io.file_exists(alignment_file) or rerun: log.ODM_INFO("Aligning submodels...") meta_data = metadataset.MetaDataSet(self.opensfm_project_path) reconstruction_shots = tools.load_reconstruction_shots(meta_data) transformations = tools.align_reconstructions(reconstruction_shots, tools.partial_reconstruction_name, False) tools.apply_transformations(transformations) self.touch(alignment_file) else: log.ODM_WARNING('Found a alignment done progress file in: %s' % alignment_file) def touch(self, file): with open(file, 'w') as fout: fout.write("Done!\n") def path(self, *paths): return os.path.join(self.opensfm_project_path, *paths) def extract_cameras(self, output, rerun=False): if not os.path.exists(output) or rerun: try: reconstruction_file = self.path("reconstruction.json") with open(output, 'w') as fout: fout.write(json.dumps(camera.get_cameras_from_opensfm(reconstruction_file), indent=4)) except Exception as e: log.ODM_WARNING("Cannot export cameras to %s. %s." % (output, str(e))) else: log.ODM_INFO("Already extracted cameras") def convert_and_undistort(self, rerun=False, imageFilter=None, image_list=None, runId="nominal"): log.ODM_INFO("Undistorting %s ..." % self.opensfm_project_path) done_flag_file = self.path("undistorted", "%s_done.txt" % runId) if not io.file_exists(done_flag_file) or rerun: ds = DataSet(self.opensfm_project_path) if image_list is not None: ds._set_image_list(image_list) undistort.run_dataset(ds, "reconstruction.json", 0, None, "undistorted", imageFilter) self.touch(done_flag_file) else: log.ODM_WARNING("Already undistorted (%s)" % runId) def restore_reconstruction_backup(self): if os.path.exists(self.recon_backup_file()): # This time export the actual reconstruction.json # (containing only the primary band) if os.path.exists(self.recon_file()): os.remove(self.recon_file()) os.replace(self.recon_backup_file(), self.recon_file()) log.ODM_INFO("Restored reconstruction.json") def backup_reconstruction(self): if os.path.exists(self.recon_backup_file()): os.remove(self.recon_backup_file()) log.ODM_INFO("Backing up reconstruction") shutil.copyfile(self.recon_file(), self.recon_backup_file()) def recon_backup_file(self): return self.path("reconstruction.backup.json") def recon_file(self): return self.path("reconstruction.json") def add_shots_to_reconstruction(self, p2s): with open(self.recon_file()) as f: reconstruction = json.loads(f.read()) # Augment reconstruction.json for recon in reconstruction: shots = recon['shots'] sids = list(shots) for shot_id in sids: secondary_photos = p2s.get(shot_id) if secondary_photos is None: log.ODM_WARNING("Cannot find secondary photos for %s" % shot_id) continue for p in secondary_photos: shots[p.filename] = shots[shot_id] with open(self.recon_file(), 'w') as f: f.write(json.dumps(reconstruction)) def update_config(self, cfg_dict): cfg_file = self.get_config_file_path() log.ODM_INFO("Updating %s" % cfg_file) if os.path.exists(cfg_file): try: with open(cfg_file) as fin: cfg = yaml.safe_load(fin) for k, v in cfg_dict.items(): cfg[k] = v log.ODM_INFO("%s: %s" % (k, v)) with open(cfg_file, 'w') as fout: fout.write(yaml.dump(cfg, default_flow_style=False)) except Exception as e: log.ODM_WARNING("Cannot update configuration file %s: %s" % (cfg_file, str(e))) else: log.ODM_WARNING("Tried to update configuration, but %s does not exist." % cfg_file) def export_stats(self, rerun=False): log.ODM_INFO("Export reconstruction stats") stats_path = self.path("stats", "stats.json") if not os.path.exists(stats_path) or rerun: self.run("compute_statistics --diagram_max_points 100000") else: log.ODM_WARNING("Found existing reconstruction stats %s" % stats_path) def export_report(self, report_path, odm_stats, rerun=False): log.ODM_INFO("Exporting report to %s" % report_path) osfm_report_path = self.path("stats", "report.pdf") if not os.path.exists(report_path) or rerun: data = DataSet(self.opensfm_project_path) pdf_report = report.Report(data, odm_stats) pdf_report.generate_report() pdf_report.save_report("report.pdf") if os.path.exists(osfm_report_path): shutil.move(osfm_report_path, report_path) else: log.ODM_WARNING("Report could not be generated") else: log.ODM_WARNING("Report %s already exported" % report_path) def write_reference_lla(self, offset_x, offset_y, proj4): reference_lla = self.path("reference_lla.json") longlat = CRS.from_epsg("4326") lon, lat = location.transform2(CRS.from_proj4(proj4), longlat, offset_x, offset_y) with open(reference_lla, 'w') as f: f.write(json.dumps({ 'latitude': lat, 'longitude': lon, 'altitude': 0.0 }, indent=4)) log.ODM_INFO("Wrote reference_lla.json") def ground_control_points(self, proj4): """ Load ground control point information. """ gcp_stats_file = self.path("stats", "ground_control_points.json") if not io.file_exists(gcp_stats_file): return [] gcps_stats = {} try: with open(gcp_stats_file) as f: gcps_stats = json.loads(f.read()) except: log.ODM_INFO("Cannot parse %s" % gcp_stats_file) if not gcps_stats: return [] ds = DataSet(self.opensfm_project_path) reference = ds.load_reference() projection = pyproj.Proj(proj4) result = [] for gcp in gcps_stats: geocoords = _transform(gcp['coordinates'], reference, projection) result.append({ 'id': gcp['id'], 'observations': gcp['observations'], 'coordinates': geocoords, 'error': gcp['error'] }) return result def name(self): return os.path.basename(os.path.abspath(self.path(".."))) def get_submodel_argv(args, submodels_path = None, submodel_name = None): """ Gets argv for a submodel starting from the args passed to the application startup. Additionally, if project_name, submodels_path and submodel_name are passed, the function handles the value and --project-path detection / override. When all arguments are set to None, --project-path and project name are always removed. :return the same as argv, but removing references to --split, setting/replacing --project-path and name removing --rerun-from, --rerun, --rerun-all, --sm-cluster removing --pc-las, --pc-csv, --pc-ept, --tiles flags (processing these is wasteful) adding --orthophoto-cutline adding --dem-euclidean-map adding --skip-3dmodel (split-merge does not support 3D model merging) tweaking --crop if necessary (DEM merging makes assumption about the area of DEMs and their euclidean maps that require cropping. If cropping is skipped, this leads to errors.) removing --gcp (the GCP path if specified is always "gcp_list.txt") reading the contents of --cameras reading the contents of --boundary """ assure_always = ['orthophoto_cutline', 'dem_euclidean_map', 'skip_3dmodel', 'skip_report'] remove_always = ['split', 'split_overlap', 'rerun_from', 'rerun', 'gcp', 'end_with', 'sm_cluster', 'rerun_all', 'pc_csv', 'pc_las', 'pc_ept', 'tiles', 'copy-to', 'cog'] read_json_always = ['cameras', 'boundary'] argv = sys.argv # Startup script (/path/to/run.py) startup_script = argv[0] # On Windows, make sure we always invoke the "run.bat" file if sys.platform == 'win32': startup_script_dir = os.path.dirname(startup_script) startup_script = os.path.join(startup_script_dir, "run") result = [startup_script] args_dict = vars(args).copy() set_keys = [k[:-len("_is_set")] for k in args_dict.keys() if k.endswith("_is_set")] # Handle project name and project path (special case) if "name" in set_keys: del args_dict["name"] set_keys.remove("name") if "project_path" in set_keys: del args_dict["project_path"] set_keys.remove("project_path") # Remove parameters set_keys = [k for k in set_keys if k not in remove_always] # Assure parameters for k in assure_always: if not k in set_keys: set_keys.append(k) args_dict[k] = True # Read JSON always for k in read_json_always: if k in set_keys: try: if isinstance(args_dict[k], str): args_dict[k] = io.path_or_json_string_to_dict(args_dict[k]) if isinstance(args_dict[k], dict): args_dict[k] = json.dumps(args_dict[k]) except ValueError as e: log.ODM_WARNING("Cannot parse/read JSON: {}".format(str(e))) # Handle crop (cannot be zero for split/merge) if "crop" in set_keys: crop_value = float(args_dict["crop"]) if crop_value == 0: crop_value = 0.015625 args_dict["crop"] = crop_value # Populate result for k in set_keys: result.append("--%s" % k.replace("_", "-")) # No second value for booleans if isinstance(args_dict[k], bool) and args_dict[k] == True: continue result.append(str(args_dict[k])) if submodels_path: result.append("--project-path") result.append(submodels_path) if submodel_name: result.append(submodel_name) return result def get_submodel_args_dict(args): submodel_argv = get_submodel_argv(args) result = {} i = 0 while i < len(submodel_argv): arg = submodel_argv[i] next_arg = None if i == len(submodel_argv) - 1 else submodel_argv[i + 1] if next_arg and arg.startswith("--"): if next_arg.startswith("--"): result[arg[2:]] = True else: result[arg[2:]] = next_arg i += 1 elif arg.startswith("--"): result[arg[2:]] = True i += 1 return result def get_submodel_paths(submodels_path, *paths): """ :return Existing paths for all submodels """ result = [] if not os.path.exists(submodels_path): return result for f in os.listdir(submodels_path): if f.startswith('submodel'): p = os.path.join(submodels_path, f, *paths) if os.path.exists(p): result.append(p) else: log.ODM_WARNING("Missing %s from submodel %s" % (p, f)) return result def get_all_submodel_paths(submodels_path, *all_paths): """ :return Existing, multiple paths for all submodels as a nested list (all or nothing for each submodel) if a single file is missing from the submodule, no files are returned for that submodel. (i.e. get_multi_submodel_paths("path/", "odm_orthophoto.tif", "dem.tif")) --> [["path/submodel_0000/odm_orthophoto.tif", "path/submodel_0000/dem.tif"], ["path/submodel_0001/odm_orthophoto.tif", "path/submodel_0001/dem.tif"]] """ result = [] if not os.path.exists(submodels_path): return result for f in os.listdir(submodels_path): if f.startswith('submodel'): all_found = True for ap in all_paths: p = os.path.join(submodels_path, f, ap) if not os.path.exists(p): log.ODM_WARNING("Missing %s from submodel %s" % (p, f)) all_found = False if all_found: result.append([os.path.join(submodels_path, f, ap) for ap in all_paths]) return result