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OpenDroneMap-ODM/contrib/time-sift/Timesift_odm.py

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9.3 KiB
Python
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# Script for Time-SIFT multi-temporal images alignment with ODM
#
# This is python script for ODM, based on the following publication :
#
# D. Feurer, F. Vinatier, Joining multi-epoch archival aerial images in a single SfM block allows 3-D change detection
# with almost exclusively image information, ISPRS Journal of Photogrammetry and Remote Sensing, Volume 146, 2018,
# Pages 495-506, ISSN 0924-2716, https://doi.org/10.1016/j.isprsjprs.2018.10.016.
import subprocess
import json
import os
import shutil
from pathlib import Path
import sys
import argparse
import textwrap
def main(argv):
# Parsing and checking args
parser = argparse.ArgumentParser(
formatter_class=argparse.RawDescriptionHelpFormatter, description=textwrap.dedent('''\
Timesift_odm.py datasetdir [-t <timesift-dir>] [-i <imageepochs-file>] [<options passed to ODM>]
you can add options passed to ODM, for instance [--end-with odm_filterpoints] so that the final step is point clouds
these options are not checked for before the final runs of each epoch, so use it carefully
'''))
parser.add_argument('datasetdir', help='dataset directory')
parser.add_argument('-t', '--timesift-dir',
help='Time-SIFT directory ; default value : "time-sift-block" # must be in the datasetdir')
parser.add_argument('-i', '--imageepochs-file',
help='Text file describing epochs ; default value : "images_epochs.txt" # must be in the TIMESIFT_DIR ')
args, additional_options_to_rerun = parser.parse_known_args()
datasets_DIR = Path(args.datasetdir).absolute().as_posix()
if args.timesift_dir:
timesift_DIR = args.timesift_dir
else:
timesift_DIR = 'time-sift-block'
if args.imageepochs_file:
images_epochs_file = args.imageepochs_file
else:
images_epochs_file = 'images_epochs.txt'
if '-h' in sys.argv or '--help' in sys.argv:
parser.print_help()
sys.exit()
if additional_options_to_rerun: # for instance, --end-with odm_filterpoints
print(f'[Time-SIFT] Options passed to ODM for the final steps: {additional_options_to_rerun}')
print(f'[Time-SIFT] \033[93mWARNING there is no check of these options done before the last ODM call\033[0m')
def check_path_args(var: Path):
if not var.exists():
print(
f'\033[91m[Time-SIFT] ERROR: the {var.as_posix()} directory does not exist. Exiting program\033[0m')
exit()
check_path_args(Path(datasets_DIR))
check_path_args(Path(datasets_DIR, timesift_DIR))
check_path_args(Path(datasets_DIR, timesift_DIR, images_epochs_file))
def clean_reconstruction_dict(subdict, key, images):
"""
Delete subdict elements where the key do not match any name in the images list.
To create the {epoch} block with only images of this epoch
"""
# The list of valid images is prepared by removing any extension (to be robust to the .tif added by ODM)
valid_images = {os.path.basename(image).split(os.extsep)[0] for image in images}
for item_key in list(subdict[key]):
image_name = os.path.basename(item_key).split(os.extsep)[0]
if image_name not in valid_images:
del subdict[key][item_key]
### Read images.txt file and create a dict of images/epochs
images_epochs_dict = {}
with open(Path(datasets_DIR, timesift_DIR, images_epochs_file), 'r') as f:
for line in f:
line = line.strip()
if not line:
continue # Empty lines are skipped
image, epoch = line.split()
if epoch not in images_epochs_dict:
images_epochs_dict[epoch] = []
images_epochs_dict[epoch].append(image)
### Check for existing epochs directories before computing anything (these directories must be deleted by hand)
path_exists_error = False
for epoch in images_epochs_dict:
if Path(datasets_DIR, epoch).exists():
if path_exists_error:
print(f"sudo rm -rf {Path(datasets_DIR, epoch).as_posix()}")
else:
print(f'\033[91m[Time-SIFT] ERROR: {Path(datasets_DIR, epoch).as_posix()} already exists.\033[0m')
print(f" Other epochs probably also exist.")
print(
f" The problem is \033[93mI CAN'T\033[0m delete it by myself, it requires root privileges.")
print(
f" The good news is \033[92mYOU CAN\033[0m do it with the following command (be careful).")
print(f'\033[91m => Consider doing it (at your own risks). Exiting program\033[0m')
print(f"- Commands to copy/paste (I'm kind, I prepared all the necessary commands for you).")
print(f"sudo rm -rf {Path(datasets_DIR, epoch).as_posix()}")
path_exists_error = True
if path_exists_error:
exit()
### LAUNCH global alignment (Time-SIFT multitemporal block)
try:
subprocess.run(['docker', 'run', '-i', '--rm', '-v', datasets_DIR + ':/datasets',
'opendronemap/odm', '--project-path', '/datasets', timesift_DIR, '--end-with', 'opensfm'])
except:
print(f'\033[91m[Time-SIFT] ERROR: {sys.exc_info()[0]}\033[0m')
exit()
print('\033[92m[Time-SIFT] Sfm on multi-temporal block done\033[0m')
print('[Time-SIFT] Going to dense matching on all epochs...')
### Loop on epochs for the dense matching
for epoch in images_epochs_dict:
#### We first duplicate the time-sift multitemporal block to save sfm results
shutil.copytree(Path(datasets_DIR, timesift_DIR),
Path(datasets_DIR, epoch))
#### Reads the datasets/{epoch}/opensfm/undistorted/reconstruction.json file that has to be modified
with open(Path(datasets_DIR, epoch, 'opensfm', 'undistorted', 'reconstruction.json'), mode="r",
encoding="utf-8") as read_file:
reconstruction_dict = json.load(read_file)
#### Removes images in this json dict (we delete the shot and the rig_instances that do not correspond to this epoch)
images = images_epochs_dict[epoch]
clean_reconstruction_dict(reconstruction_dict[0], 'shots', images)
clean_reconstruction_dict(reconstruction_dict[0], 'rig_instances', images)
#### Makes a backup of the reconstruction.json file and writes the modified json
shutil.copy(Path(datasets_DIR, epoch, 'opensfm', 'undistorted', 'reconstruction.json'),
Path(datasets_DIR, epoch, 'opensfm', 'undistorted', 'reconstruction.json.bak'))
with open(Path(datasets_DIR, epoch, 'opensfm', 'undistorted', 'reconstruction.json'), mode="w",
encoding="utf-8") as write_file:
json.dump(reconstruction_dict, write_file)
#### Launches dense matching from the good previous step, with possible options (e.g. => to stop at the point clouds)
command_rerun = ['docker', 'run', '-i', '--rm', '-v', datasets_DIR + ':/datasets',
'opendronemap/odm',
'--project-path', '/datasets', epoch,
'--rerun-from', 'openmvs']
if additional_options_to_rerun:
print(f'[Time-SIFT] Epoch {epoch}: Rerun with additionnal options: {additional_options_to_rerun}')
command_rerun.extend(additional_options_to_rerun)
else:
print(f'[Time-SIFT] Epoch {epoch}: Default full rerun')
result = subprocess.run(command_rerun)
if result.returncode != 0:
print(f'\033[91m[Time-SIFT] ERROR in processing epoch {epoch}\033[0m')
print(f'{result=}')
exit(result.returncode)
print(f'\033[92m[Time-SIFT] Epoch {epoch} finished\033[0m')
print('§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§')
print('§§§ §§ §§§ §§§§§ §§§ §§§§§§§§§§ §§ §§ §§ §§§')
print('§§§§§ §§§§ §§§ §§§ §§§ §§§§§§§§§§§§§ §§§§§§ §§ §§§§§§§§ §§§§§')
print('§§§§§ §§§§ §§§ § §§§ §§§§ §§§§§ §§§§ §§ §§§§§§ §§§§§')
print('§§§§§ §§§§ §§§ §§§§§ §§§ §§§§§§§§§§§§§§§§§ §§ §§ §§§§§§§§ §§§§§')
print('§§§§§ §§§§ §§§ §§§§§ §§§ §§§§§§§§§ §§§ §§ §§§§§§§§ §§§§§')
print('§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§§')
print(' \033[92mTime-SIFT with ODM finished, congrats !\033[0m Want to cite the method ?')
print('=> D. Feurer, F. Vinatier, Joining multi-epoch archival aerial images in ')
print(' a single SfM block allows 3-D change detection with almost exclusively')
print(' image information, ISPRS Journal of Photogrammetry and Remote Sensing,')
print(' 2018, https://doi.org/10.1016/j.isprsjprs.2018.10.016 ')
if __name__ == "__main__":
main(sys.argv[1:])
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