kopia lustrzana https://github.com/OpenDroneMap/ODM
587 wiersze
27 KiB
Python
587 wiersze
27 KiB
Python
import argparse
|
|
from opendm import context
|
|
from opendm import io
|
|
from opendm import log
|
|
from appsettings import SettingsParser
|
|
from pyodm import Node, exceptions
|
|
|
|
import sys
|
|
|
|
# parse arguments
|
|
processopts = ['dataset', 'split', 'merge', 'opensfm', 'mve', 'odm_filterpoints',
|
|
'odm_meshing', 'mvs_texturing', 'odm_georeferencing',
|
|
'odm_dem', 'odm_orthophoto']
|
|
|
|
with open(io.join_paths(context.root_path, 'VERSION')) as version_file:
|
|
__version__ = version_file.read().strip()
|
|
|
|
|
|
def alphanumeric_string(string):
|
|
import re
|
|
if re.match('^[a-zA-Z0-9_-]+$', string) is None:
|
|
msg = '{0} is not a valid name. Must use alphanumeric characters.'.format(string)
|
|
raise argparse.ArgumentTypeError(msg)
|
|
return string
|
|
|
|
# Django URL validation regex
|
|
def url_string(string):
|
|
import re
|
|
regex = re.compile(
|
|
r'^(?:http|ftp)s?://' # http:// or https://
|
|
r'(?:(?:[A-Z0-9](?:[A-Z0-9-]{0,61}[A-Z0-9])?\.?)+(?:[A-Z]{2,6}\.?|[A-Z0-9-]{2,}\.?)|' #domain...
|
|
r'localhost|' #localhost...
|
|
r'\d{1,3}\.\d{1,3}\.\d{1,3}\.\d{1,3})' # ...or ip
|
|
r'(?::\d+)?' # optional port
|
|
r'(?:/?|[/?]\S+)$', 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
|
|
|
|
class RerunFrom(argparse.Action):
|
|
def __call__(self, parser, namespace, values, option_string=None):
|
|
setattr(namespace, self.dest, processopts[processopts.index(values):])
|
|
|
|
|
|
parser = SettingsParser(description='OpenDroneMap',
|
|
usage='%(prog)s [options] <project name>',
|
|
yaml_file=open(context.settings_path))
|
|
|
|
def config():
|
|
parser.add_argument('--images', '-i',
|
|
metavar='<path>',
|
|
help='Path to input images'),
|
|
|
|
parser.add_argument('--project-path',
|
|
metavar='<path>',
|
|
help='Path to the project folder')
|
|
|
|
parser.add_argument('name',
|
|
metavar='<project name>',
|
|
type=alphanumeric_string,
|
|
help='Name of Project (i.e subdirectory of projects folder)')
|
|
|
|
parser.add_argument('--resize-to',
|
|
metavar='<integer>',
|
|
default=2048,
|
|
type=int,
|
|
help='resizes images by the largest side for opensfm. '
|
|
'Set to -1 to disable. Default: %(default)s')
|
|
|
|
parser.add_argument('--end-with', '-e',
|
|
metavar='<string>',
|
|
default='odm_orthophoto',
|
|
choices=processopts,
|
|
help=('Can be one of:' + ' | '.join(processopts)))
|
|
|
|
rerun = parser.add_mutually_exclusive_group()
|
|
|
|
rerun.add_argument('--rerun', '-r',
|
|
metavar='<string>',
|
|
choices=processopts,
|
|
help=('Can be one of:' + ' | '.join(processopts)))
|
|
|
|
rerun.add_argument('--rerun-all',
|
|
action='store_true',
|
|
default=False,
|
|
help='force rerun of all tasks')
|
|
|
|
rerun.add_argument('--rerun-from',
|
|
action=RerunFrom,
|
|
metavar='<string>',
|
|
choices=processopts,
|
|
help=('Can be one of:' + ' | '.join(processopts)))
|
|
|
|
parser.add_argument('--video',
|
|
metavar='<string>',
|
|
help='Path to the video file to process')
|
|
|
|
parser.add_argument('--slam-config',
|
|
metavar='<string>',
|
|
help='Path to config file for orb-slam')
|
|
|
|
parser.add_argument('--proj',
|
|
metavar='<PROJ4 string>',
|
|
help='Projection used to transform the model into geographic coordinates')
|
|
|
|
parser.add_argument('--min-num-features',
|
|
metavar='<integer>',
|
|
default=8000,
|
|
type=int,
|
|
help=('Minimum number of features to extract per image. '
|
|
'More features leads to better results but slower '
|
|
'execution. Default: %(default)s'))
|
|
|
|
parser.add_argument('--matcher-neighbors',
|
|
type=int,
|
|
metavar='<integer>',
|
|
default=8,
|
|
help='Number of nearest images to pre-match based on GPS '
|
|
'exif data. Set to 0 to skip pre-matching. '
|
|
'Neighbors works together with Distance parameter, '
|
|
'set both to 0 to not use pre-matching. OpenSFM '
|
|
'uses both parameters at the same time, Bundler '
|
|
'uses only one which has value, prefering the '
|
|
'Neighbors parameter. Default: %(default)s')
|
|
|
|
parser.add_argument('--matcher-distance',
|
|
metavar='<integer>',
|
|
default=0,
|
|
type=int,
|
|
help='Distance threshold in meters to find pre-matching '
|
|
'images based on GPS exif data. Set both '
|
|
'matcher-neighbors and this to 0 to skip '
|
|
'pre-matching. Default: %(default)s')
|
|
|
|
parser.add_argument('--use-fixed-camera-params',
|
|
action='store_true',
|
|
default=False,
|
|
help='Turn off camera parameter optimization during bundler')
|
|
|
|
parser.add_argument('--max-concurrency',
|
|
metavar='<positive integer>',
|
|
default=context.num_cores,
|
|
type=int,
|
|
help=('The maximum number of processes to use in various '
|
|
'processes. Peak memory requirement is ~1GB per '
|
|
'thread and 2 megapixel image resolution. Default: %(default)s'))
|
|
|
|
parser.add_argument('--depthmap-resolution',
|
|
metavar='<positive float>',
|
|
type=float,
|
|
default=640,
|
|
help=('Controls the density of the point cloud by setting the resolution of the depthmap images. Higher values take longer to compute '
|
|
'but produce denser point clouds. '
|
|
'Default: %(default)s'))
|
|
|
|
parser.add_argument('--opensfm-depthmap-min-consistent-views',
|
|
metavar='<integer: 2 <= x <= 9>',
|
|
type=int,
|
|
default=3,
|
|
help=('Minimum number of views that should reconstruct a point for it to be valid. Use lower values '
|
|
'if your images have less overlap. Lower values result in denser point clouds '
|
|
'but with more noise. '
|
|
'Default: %(default)s'))
|
|
|
|
parser.add_argument('--opensfm-depthmap-method',
|
|
metavar='<string>',
|
|
default='PATCH_MATCH',
|
|
choices=['PATCH_MATCH', 'BRUTE_FORCE', 'PATCH_MATCH_SAMPLE'],
|
|
help=('Raw depthmap computation algorithm. '
|
|
'PATCH_MATCH and PATCH_MATCH_SAMPLE are faster, but might miss some valid points. '
|
|
'BRUTE_FORCE takes longer but produces denser reconstructions. '
|
|
'Default: %(default)s'))
|
|
|
|
parser.add_argument('--opensfm-depthmap-min-patch-sd',
|
|
metavar='<positive float>',
|
|
type=float,
|
|
default=1,
|
|
help=('When using PATCH_MATCH or PATCH_MATCH_SAMPLE, controls the standard deviation threshold to include patches. '
|
|
'Patches with lower standard deviation are ignored. '
|
|
'Default: %(default)s'))
|
|
|
|
parser.add_argument('--use-hybrid-bundle-adjustment',
|
|
action='store_true',
|
|
default=False,
|
|
help='Run local bundle adjustment for every image added to the reconstruction and a global '
|
|
'adjustment every 100 images. Speeds up reconstruction for very large datasets.')
|
|
|
|
parser.add_argument('--mve-confidence',
|
|
metavar='<float: 0 <= x <= 1>',
|
|
type=float,
|
|
default=0.60,
|
|
help=('Discard points that have less than a certain confidence threshold. '
|
|
'This only affects dense reconstructions performed with MVE. '
|
|
'Higher values discard more points. '
|
|
'Default: %(default)s'))
|
|
|
|
parser.add_argument('--use-3dmesh',
|
|
action='store_true',
|
|
default=False,
|
|
help='Use a full 3D mesh to compute the orthophoto instead of a 2.5D mesh. This option is a bit faster and provides similar results in planar areas.')
|
|
|
|
parser.add_argument('--skip-3dmodel',
|
|
action='store_true',
|
|
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.')
|
|
|
|
parser.add_argument('--use-opensfm-dense',
|
|
action='store_true',
|
|
default=False,
|
|
help='Use opensfm to compute dense point cloud alternatively')
|
|
|
|
parser.add_argument('--ignore-gsd',
|
|
action='store_true',
|
|
default=False,
|
|
help='Ignore Ground Sampling Distance (GSD). GSD '
|
|
'caps 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.')
|
|
|
|
parser.add_argument('--mesh-size',
|
|
metavar='<positive integer>',
|
|
default=100000,
|
|
type=int,
|
|
help=('The maximum vertex count of the output mesh. '
|
|
'Default: %(default)s'))
|
|
|
|
parser.add_argument('--mesh-octree-depth',
|
|
metavar='<positive integer>',
|
|
default=9,
|
|
type=int,
|
|
help=('Oct-tree depth used in the mesh reconstruction, '
|
|
'increase to get more vertices, recommended '
|
|
'values are 8-12. Default: %(default)s'))
|
|
|
|
parser.add_argument('--mesh-samples',
|
|
metavar='<float >= 1.0>',
|
|
default=1.0,
|
|
type=float,
|
|
help=('Number of points per octree node, recommended '
|
|
'and default value: %(default)s'))
|
|
|
|
parser.add_argument('--mesh-point-weight',
|
|
metavar='<positive float>',
|
|
default=4,
|
|
type=float,
|
|
help=('This floating point value specifies the importance'
|
|
' that interpolation of the point samples is given in the '
|
|
'formulation of the screened Poisson equation. The results '
|
|
'of the original (unscreened) Poisson Reconstruction can '
|
|
'be obtained by setting this value to 0.'
|
|
'Default= %(default)s'))
|
|
|
|
parser.add_argument('--fast-orthophoto',
|
|
action='store_true',
|
|
default=False,
|
|
help='Skips dense reconstruction and 3D model generation. '
|
|
'It generates an orthophoto directly from the sparse reconstruction. '
|
|
'If you just need an orthophoto and do not need a full 3D model, turn on this option. '
|
|
'Experimental.')
|
|
|
|
parser.add_argument('--crop',
|
|
metavar='<positive float>',
|
|
default=3,
|
|
type=float,
|
|
help=('Automatically crop image outputs by creating a smooth buffer '
|
|
'around the dataset boundaries, shrinked by N meters. '
|
|
'Use 0 to disable cropping. '
|
|
'Default: %(default)s'))
|
|
|
|
parser.add_argument('--pc-classify',
|
|
action='store_true',
|
|
default=False,
|
|
help='Classify the point cloud outputs using a Simple Morphological Filter. '
|
|
'You can control the behavior of this option by tweaking the --dem-* parameters. '
|
|
'Default: '
|
|
'%(default)s')
|
|
|
|
parser.add_argument('--pc-csv',
|
|
action='store_true',
|
|
default=False,
|
|
help='Export the georeferenced point cloud in CSV format. Default: %(default)s')
|
|
|
|
parser.add_argument('--pc-las',
|
|
action='store_true',
|
|
default=False,
|
|
help='Export the georeferenced point cloud in LAS format. Default: %(default)s')
|
|
|
|
parser.add_argument('--pc-filter',
|
|
metavar='<positive float>',
|
|
type=float,
|
|
default=2.5,
|
|
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.'
|
|
'\nDefault: '
|
|
'%(default)s')
|
|
|
|
parser.add_argument('--smrf-scalar',
|
|
metavar='<positive float>',
|
|
type=float,
|
|
default=1.25,
|
|
help='Simple Morphological Filter elevation scalar parameter. '
|
|
'\nDefault: '
|
|
'%(default)s')
|
|
|
|
parser.add_argument('--smrf-slope',
|
|
metavar='<positive float>',
|
|
type=float,
|
|
default=0.15,
|
|
help='Simple Morphological Filter slope parameter (rise over run). '
|
|
'\nDefault: '
|
|
'%(default)s')
|
|
|
|
parser.add_argument('--smrf-threshold',
|
|
metavar='<positive float>',
|
|
type=float,
|
|
default=0.5,
|
|
help='Simple Morphological Filter elevation threshold parameter (meters). '
|
|
'\nDefault: '
|
|
'%(default)s')
|
|
|
|
parser.add_argument('--smrf-window',
|
|
metavar='<positive float>',
|
|
type=float,
|
|
default=18.0,
|
|
help='Simple Morphological Filter window radius parameter (meters). '
|
|
'\nDefault: '
|
|
'%(default)s')
|
|
|
|
parser.add_argument('--texturing-data-term',
|
|
metavar='<string>',
|
|
default='gmi',
|
|
choices=['gmi', 'area'],
|
|
help=('Data term: [area, gmi]. Default: '
|
|
'%(default)s'))
|
|
|
|
parser.add_argument('--texturing-nadir-weight',
|
|
metavar='<integer: 0 <= x <= 32>',
|
|
default=16,
|
|
type=int,
|
|
help=('Affects orthophotos only. '
|
|
'Higher values result in sharper corners, but can affect color distribution and blurriness. '
|
|
'Use lower values for planar areas and higher values for urban areas. '
|
|
'The default value works well for most scenarios. Default: '
|
|
'%(default)s'))
|
|
|
|
parser.add_argument('--texturing-outlier-removal-type',
|
|
metavar='<string>',
|
|
default='gauss_clamping',
|
|
choices=['none', 'gauss_clamping', 'gauss_damping'],
|
|
help=('Type of photometric outlier removal method: '
|
|
'[none, gauss_damping, gauss_clamping]. Default: '
|
|
'%(default)s'))
|
|
|
|
parser.add_argument('--texturing-skip-visibility-test',
|
|
action='store_true',
|
|
default=False,
|
|
help=('Skip geometric visibility test. Default: '
|
|
' %(default)s'))
|
|
|
|
parser.add_argument('--texturing-skip-global-seam-leveling',
|
|
action='store_true',
|
|
default=False,
|
|
help=('Skip global seam leveling. Useful for IR data.'
|
|
'Default: %(default)s'))
|
|
|
|
parser.add_argument('--texturing-skip-local-seam-leveling',
|
|
action='store_true',
|
|
default=False,
|
|
help='Skip local seam blending. Default: %(default)s')
|
|
|
|
parser.add_argument('--texturing-skip-hole-filling',
|
|
action='store_true',
|
|
default=False,
|
|
help=('Skip filling of holes in the mesh. Default: '
|
|
' %(default)s'))
|
|
|
|
parser.add_argument('--texturing-keep-unseen-faces',
|
|
action='store_true',
|
|
default=False,
|
|
help=('Keep faces in the mesh that are not seen in any camera. '
|
|
'Default: %(default)s'))
|
|
|
|
parser.add_argument('--texturing-tone-mapping',
|
|
metavar='<string>',
|
|
choices=['none', 'gamma'],
|
|
default='none',
|
|
help='Turn on gamma tone mapping or none for no tone '
|
|
'mapping. Choices are \'gamma\' or \'none\'. '
|
|
'Default: %(default)s ')
|
|
|
|
parser.add_argument('--gcp',
|
|
metavar='<path string>',
|
|
default=None,
|
|
help=('path to the file containing the ground control '
|
|
'points used for georeferencing. Default: '
|
|
'%(default)s. The file needs to '
|
|
'be on the following line format: \neasting '
|
|
'northing height pixelrow pixelcol imagename'))
|
|
|
|
parser.add_argument('--use-exif',
|
|
action='store_true',
|
|
default=False,
|
|
help=('Use this tag if you have a gcp_list.txt but '
|
|
'want to use the exif geotags instead'))
|
|
|
|
parser.add_argument('--dtm',
|
|
action='store_true',
|
|
default=False,
|
|
help='Use this tag to build a DTM (Digital Terrain Model, ground only) using a simple '
|
|
'morphological filter. Check the --dem* and --smrf* parameters for finer tuning.')
|
|
|
|
parser.add_argument('--dsm',
|
|
action='store_true',
|
|
default=False,
|
|
help='Use this tag to build a DSM (Digital Surface Model, ground + objects) using a progressive '
|
|
'morphological filter. Check the --dem* parameters for finer tuning.')
|
|
|
|
parser.add_argument('--dem-gapfill-steps',
|
|
metavar='<positive integer>',
|
|
default=3,
|
|
type=int,
|
|
help='Number of steps used to fill areas with gaps. Set to 0 to disable gap filling. '
|
|
'Starting with a radius equal to the output resolution, N different DEMs are generated with '
|
|
'progressively bigger radius using the inverse distance weighted (IDW) algorithm '
|
|
'and merged together. Remaining gaps are then merged using nearest neighbor interpolation. '
|
|
'\nDefault=%(default)s')
|
|
|
|
parser.add_argument('--dem-resolution',
|
|
metavar='<float>',
|
|
type=float,
|
|
default=5,
|
|
help='DSM/DTM resolution in cm / pixel.'
|
|
'\nDefault: %(default)s')
|
|
|
|
parser.add_argument('--dem-decimation',
|
|
metavar='<positive integer>',
|
|
default=1,
|
|
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.\nDefault=%(default)s')
|
|
|
|
parser.add_argument('--dem-euclidean-map',
|
|
action='store_true',
|
|
default=False,
|
|
help='Computes an euclidean raster map for each DEM. '
|
|
'The map reports the distance from each cell to the nearest '
|
|
'NODATA value (before any hole filling takes place). '
|
|
'This can be useful to isolate the areas that have been filled. '
|
|
'Default: '
|
|
'%(default)s')
|
|
|
|
parser.add_argument('--orthophoto-resolution',
|
|
metavar='<float > 0.0>',
|
|
default=5,
|
|
type=float,
|
|
help=('Orthophoto resolution in cm / pixel.\n'
|
|
'Default: %(default)s'))
|
|
|
|
parser.add_argument('--orthophoto-no-tiled',
|
|
action='store_true',
|
|
default=False,
|
|
help='Set this parameter if you want a stripped geoTIFF.\n'
|
|
'Default: %(default)s')
|
|
|
|
parser.add_argument('--orthophoto-compression',
|
|
metavar='<string>',
|
|
type=str,
|
|
choices=['JPEG', 'LZW', 'PACKBITS', 'DEFLATE', 'LZMA', 'NONE'],
|
|
default='DEFLATE',
|
|
help='Set the compression to use. Note that this could '
|
|
'break gdal_translate if you don\'t know what you '
|
|
'are doing. Options: %(choices)s.\nDefault: %(default)s')
|
|
|
|
parser.add_argument('--orthophoto-bigtiff',
|
|
type=str,
|
|
choices=['YES', 'NO','IF_NEEDED','IF_SAFER'],
|
|
default='IF_SAFER',
|
|
help='Control whether the created orthophoto is a BigTIFF or '
|
|
'classic TIFF. BigTIFF is a variant for files larger than '
|
|
'4GiB of data. Options are %(choices)s. See GDAL specs: '
|
|
'https://www.gdal.org/frmt_gtiff.html for more info. '
|
|
'\nDefault: %(default)s')
|
|
|
|
parser.add_argument('--orthophoto-cutline',
|
|
action='store_true',
|
|
default=False,
|
|
help='Generates a polygon around the cropping area '
|
|
'that cuts the orthophoto around the edges of features. This polygon '
|
|
'can be useful for stitching seamless mosaics with multiple overlapping orthophotos. '
|
|
'Default: '
|
|
'%(default)s')
|
|
|
|
parser.add_argument('--build-overviews',
|
|
action='store_true',
|
|
default=False,
|
|
help='Build orthophoto overviews using gdaladdo.')
|
|
|
|
parser.add_argument('--verbose', '-v',
|
|
action='store_true',
|
|
default=False,
|
|
help='Print additional messages to the console\n'
|
|
'Default: %(default)s')
|
|
|
|
parser.add_argument('--time',
|
|
action='store_true',
|
|
default=False,
|
|
help='Generates a benchmark file with runtime info\n'
|
|
'Default: %(default)s')
|
|
|
|
parser.add_argument('--version',
|
|
action='version',
|
|
version='OpenDroneMap {0}'.format(__version__),
|
|
help='Displays version number and exits. ')
|
|
|
|
parser.add_argument('--split',
|
|
type=int,
|
|
default=999999,
|
|
help='Average number of images per submodel. When '
|
|
'splitting a large dataset into smaller '
|
|
'submodels, images are grouped into clusters. '
|
|
'This value regulates the number of images that '
|
|
'each cluster should have on average.')
|
|
|
|
parser.add_argument('--split-overlap',
|
|
type=float,
|
|
metavar='<positive integer>',
|
|
default=150,
|
|
help='Radius of the overlap between submodels. '
|
|
'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.')
|
|
|
|
parser.add_argument('--sm-cluster',
|
|
metavar='<string>',
|
|
type=url_string,
|
|
default=None,
|
|
help='URL to a nodeodm-proxy instance '
|
|
'for distributing a split-merge workflow on '
|
|
'multiple nodes in parallel. '
|
|
'Default: %(default)s')
|
|
|
|
parser.add_argument('--merge',
|
|
metavar='<string>',
|
|
default='all',
|
|
choices=['all', 'pointcloud', 'orthophoto', 'dem'],
|
|
help=('Choose what to merge in the merge step in a split dataset. '
|
|
'By default all available outputs are merged. '
|
|
'Default: '
|
|
'%(default)s'))
|
|
|
|
args = parser.parse_args()
|
|
|
|
# check that the project path setting has been set properly
|
|
if not args.project_path:
|
|
log.ODM_ERROR('You need to set the project path in the '
|
|
'settings.yaml file before you can run ODM, '
|
|
'or use `--project-path <path>`. Run `python '
|
|
'run.py --help` for more information. ')
|
|
sys.exit(1)
|
|
|
|
if args.fast_orthophoto:
|
|
log.ODM_INFO('Fast orthophoto is turned on, automatically setting --skip-3dmodel')
|
|
args.skip_3dmodel = True
|
|
|
|
if args.dtm and not args.pc_classify:
|
|
log.ODM_INFO("DTM is turned on, automatically turning on point cloud classification")
|
|
args.pc_classify = True
|
|
|
|
if args.skip_3dmodel and args.use_3dmesh:
|
|
log.ODM_WARNING('--skip-3dmodel is set, but so is --use-3dmesh. --skip-3dmodel will be ignored.')
|
|
args.skip_3dmodel = False
|
|
|
|
if args.orthophoto_cutline and not args.crop:
|
|
log.ODM_WARNING("--orthophoto-cutline is set, but --crop is not. --crop will be set to 0.01")
|
|
args.crop = 0.01
|
|
|
|
if args.sm_cluster:
|
|
try:
|
|
Node.from_url(args.sm_cluster).info()
|
|
except exceptions.NodeConnectionError as e:
|
|
log.ODM_ERROR("Cluster node seems to be offline: %s" % str(e))
|
|
sys.exit(1)
|
|
|
|
return args
|