kopia lustrzana https://github.com/OpenDroneMap/ODM
261 wiersze
13 KiB
Markdown
261 wiersze
13 KiB
Markdown
# ODM
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## What is it?
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ODM is an open source command line toolkit for processing aerial drone imagery. Typical drones use simple point-and-shoot cameras, so the images from drones, while from a different perspective, are similar to any pictures taken from point-and-shoot cameras, i.e. non-metric imagery. OpenDroneMap turns those simple images into three dimensional geographic data that can be used in combination with other geographic datasets.
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If you want a graphical user interface for it, check out [WebODM](https://github.com/OpenDroneMap/WebODM)
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In a word, ODM is a toolchain for processing raw civilian UAS imagery to other useful products. What kind of products?
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1. Point Clouds
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2. Digital Surface Models
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3. Textured Digital Surface Models
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4. Orthorectified Imagery
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5. Classified Point Clouds (coming soon)
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6. Digital Elevation Models
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7. etc.
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ODM now includes state-of-the-art 3D reconstruction work by Michael Waechter, Nils Moehrle, and Michael Goesele. See their publication at [http://www.gcc.tu-darmstadt.de/media/gcc/papers/Waechter-2014-LTB.pdf](http://www.gcc.tu-darmstadt.de/media/gcc/papers/Waechter-2014-LTB.pdf).
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For Docs, see Quickstart below and also https://docs.opendronemap.org
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## QUICKSTART
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### Docker (All platforms)
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The easiest way to run ODM is through Docker. If you don't have it installed,
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see the [Docker Ubuntu installation tutorial](https://docs.docker.com/engine/installation/linux/ubuntulinux/) and follow the
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instructions through "Create a Docker group". The Docker image workflow
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has equivalent procedures for Mac OS X and Windows found at [docs.docker.com](docs.docker.com). Then run the following command which will build a pre-built image and run on images found in `$(pwd)/images` (you can change this if you need to, see the [wiki](https://github.com/OpenDroneMap/OpenDroneMap/wiki/Docker) for more detailed instructions.
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```
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docker run -it --rm \
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-v "$(pwd)/images:/code/images" \
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-v "$(pwd)/odm_orthophoto:/code/odm_orthophoto" \
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-v "$(pwd)/odm_texturing:/code/odm_texturing" \
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opendronemap/odm
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```
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### Native Install (Ubuntu 16.04)
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** Please note that we need help getting ODM updated to work for 16.10+. Look at [#659](https://github.com/OpenDroneMap/OpenDroneMap/issues/659) or drop into the [gitter](https://gitter.im/OpenDroneMap/OpenDroneMap) for more info.
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**[Download the latest release here](https://github.com/OpenDroneMap/OpenDroneMap/releases)**
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Current version: 0.3.1 (this software is in beta)
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1. Extract and enter the OpenDroneMap directory
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2. Run `bash configure.sh install`
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4. Edit the `settings.yaml` file in your favorite text editor. Set the `project-path` value to an empty directory (you will place sub-directories containing individual projects inside). You can add many options to this file, [see here](https://github.com/OpenDroneMap/OpenDroneMap/wiki/Run-Time-Parameters)
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3. Download a sample dataset from [here](https://github.com/OpenDroneMap/odm_data_aukerman/archive/master.zip) (about 550MB) and extract it as a subdirectory in your project directory.
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4. Run `./run.sh odm_data_aukerman`
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5. Enter dataset directory to view results:
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- orthophoto: odm_orthophoto/odm_orthophoto.tif
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- textured mesh model: odm_texturing/odm_textured_model_geo.obj
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- point cloud (georeferenced): odm_georeferencing/odm_georeferenced_model.ply
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See below for more detailed installation instructions.
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## Diving Deeper
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### Installation
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Extract and enter the downloaded OpenDroneMap directory and compile all of the code by executing a single configuration script (requires root privileges):
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bash configure.sh install
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When updating to a newer version of ODM, it is recommended that you run
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bash configure.sh reinstall
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to ensure all the dependent packages and modules get updated.
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For Ubuntu 15.10 users, this will help you get running:
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sudo apt-get install python-xmltodict
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sudo ln -s /usr/lib/x86_64-linux-gnu/libproj.so.9 /usr/lib/libproj.so
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### Environment Variables
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There are some environmental variables that need to be set. Open the ~/.bashrc file on your machine and add the following 3 lines at the end. The file can be opened with ```gedit ~/.bashrc``` if you are using an Ubuntu desktop environment. Be sure to replace the "/your/path/" with the correct path to the location where you extracted OpenDroneMap:
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export PYTHONPATH=$PYTHONPATH:/your/path/OpenDroneMap/SuperBuild/install/lib/python2.7/dist-packages
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export PYTHONPATH=$PYTHONPATH:/your/path/OpenDroneMap/SuperBuild/src/opensfm
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export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/your/path/OpenDroneMap/SuperBuild/install/lib
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Note that using `run.sh` sets these temporarily in the shell.
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### Run OpenDroneMap
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First you need a set of images, taken from a drone or otherwise. Example data can be obtained from https://github.com/OpenDroneMap/odm_data
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Next, you need to edit the `settings.yaml` file. The only setting you must edit is the `project-path` key. Set this to an empty directory within projects will be saved. There are many options for tuning your project. See the [wiki](https://github.com/OpenDroneMap/OpenDroneMap/wiki/Run-Time-Parameters) or run `python run.py -h`
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Then run:
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python run.py -i /path/to/images project-name
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The images will be copied over to the project path so you only need to specify the `-i /path/` once. You can also override any variable from settings.yaml here using the command line arguments. If you want to rerun the whole thing, run
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python run.py --rerun-all project-name
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or
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python run.py --rerun-from odm_meshing project-name
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The options for rerunning are: 'resize', 'opensfm', 'slam', 'mve', 'odm_meshing', 'mvs_texturing', 'odm_georeferencing', 'odm_orthophoto'
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### View Results
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When the process finishes, the results will be organized as follows:
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|-- images/
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|-- img-1234.jpg
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|-- ...
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|-- images_resize/
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|-- img-1234.jpg
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|-- ...
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|-- opensfm/
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|-- see mapillary/opensfm repository for more info
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|-- depthmaps/
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|-- merged.ply # Dense Point cloud (not georeferenced)
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|-- odm_meshing/
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|-- odm_mesh.ply # A 3D mesh
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|-- odm_meshing_log.txt # Output of the meshing task. May point out errors.
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|-- odm_texturing/
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|-- odm_textured_model.obj # Textured mesh
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|-- odm_textured_model_geo.obj # Georeferenced textured mesh
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|-- texture_N.jpg # Associated textured images used by the model
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|-- odm_georeferencing/
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|-- odm_georeferenced_model.ply # A georeferenced dense point cloud
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|-- odm_georeferenced_model.laz # LAZ format point cloud
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|-- odm_georeferenced_model.csv # XYZ format point cloud
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|-- odm_georeferencing_log.txt # Georeferencing log
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|-- odm_georeferencing_transform.txt# Transform used for georeferencing
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|-- odm_georeferencing_utm_log.txt # Log for the extract_utm portion
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|-- odm_orthophoto/
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|-- odm_orthophoto.png # Orthophoto image (no coordinates)
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|-- odm_orthophoto.tif # Orthophoto GeoTiff
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|-- odm_orthophoto_log.txt # Log file
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|-- gdal_translate_log.txt # Log for georeferencing the png file
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Any file ending in .obj or .ply can be opened and viewed in [MeshLab](http://meshlab.sourceforge.net/) or similar software. That includes `opensfm/depthmaps/merged.ply`, `odm_meshing/odm_mesh.ply`, `odm_texturing/odm_textured_model[_geo].obj`, or `odm_georeferencing/odm_georeferenced_model.ply`. Below is an example textured mesh:
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You can also view the orthophoto GeoTIFF in [QGIS](http://www.qgis.org/) or other mapping software:
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## Build and Run Using Docker
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(Instructions below apply to Ubuntu 14.04, but the Docker image workflow
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has equivalent procedures for Mac OS X and Windows. See [docs.docker.com](https://docs.docker.com/))
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OpenDroneMap is Dockerized, meaning you can use containerization to build and run it without tampering with the configuration of libraries and packages already
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installed on your machine. Docker software is free to install and use in this context. If you don't have it installed,
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see the [Docker Ubuntu installation tutorial](https://docs.docker.com/engine/installation/linux/ubuntulinux/) and follow the
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instructions through "Create a Docker group". Once Docker is installed, the fastest way to use OpenDroneMap is to run a pre-built image by typing:
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docker run -it --rm \
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-v "$(pwd)/images:/code/images" \
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-v "$(pwd)/odm_orthophoto:/code/odm_orthophoto" \
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-v "$(pwd)/odm_texturing:/code/odm_texturing" \
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opendronemap/odm
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If you want to build your own Docker image from sources, type:
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docker build -t my_odm_image --no-cache .
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docker run -it --rm \
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-v "$(pwd)/images:/code/images" \
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-v "$(pwd)/odm_orthophoto:/code/odm_orthophoto" \
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-v "$(pwd)/odm_texturing:/code/odm_texturing" \
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my_odm_image
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Using this method, the containerized ODM will process the images in the OpenDroneMap/images directory and output results
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to the OpenDroneMap/odm_orthophoto and OpenDroneMap/odm_texturing directories as described in the [Viewing Results](https://github.com/OpenDroneMap/OpenDroneMap/wiki/Output-and-Results) section.
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If you want to view other results outside the Docker image simply add which directories you're interested in to the run command in the same pattern
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established above. For example, if you're interested in the dense cloud results generated by OpenSfM and in the orthophoto,
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simply use the following `docker run` command after building the image:
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docker run -it --rm \
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-v "$(pwd)/images:/code/images" \
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-v "$(pwd)/odm_georeferencing:/code/odm_georeferencing" \
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-v "$(pwd)/odm_orthophoto:/code/odm_orthophoto" \
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my_odm_image
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If you want to get all intermediate outputs, run the following command:
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docker run -it --rm \
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-v "$(pwd)/images:/code/images" \
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-v "$(pwd)/odm_georeferencing:/code/odm_georeferencing" \
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-v "$(pwd)/odm_meshing:/code/odm_meshing" \
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-v "$(pwd)/odm_orthophoto:/code/odm_orthophoto" \
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-v "$(pwd)/odm_texturing:/code/odm_texturing" \
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-v "$(pwd)/opensfm:/code/opensfm" \
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-v "$(pwd)/mve:/code/mve" \
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opendronemap/odm
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To pass in custom parameters to the run.py script, simply pass it as arguments to the `docker run` command. For example:
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docker run -it --rm \
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-v "$(pwd)/images:/code/images" \
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-v "$(pwd)/odm_orthophoto:/code/odm_orthophoto" \
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-v "$(pwd)/odm_texturing:/code/odm_texturing" \
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opendronemap/odm --resize-to 1800
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If you want to pass in custom parameters using the settings.yaml file, you can pass it as a -v volume binding:
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docker run -it --rm \
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-v "$(pwd)/images:/code/images" \
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-v "$(pwd)/odm_orthophoto:/code/odm_orthophoto" \
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-v "$(pwd)/odm_texturing:/code/odm_texturing" \
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-v "$(pwd)/settings.yaml:/code/settings.yaml" \
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opendronemap/odm
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When building your own Docker image, if image size is of importance to you, you should use the ```--squash``` flag, like so:
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docker build --squash -t my_odm_image .
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This will clean up intermediate steps in the Docker build process, resulting in a significantly smaller image (about half the size).
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Experimental flags need to be enabled in Docker to use the ```--squash``` flag. To enable this, insert the following into the file ```/etc/docker/daemon.json```:
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{
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"experimental": true
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}
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After this, you must restart docker by typing ```sudo service docker restart``` into your Linux terminal.
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## User Interface
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A web interface and API to OpenDroneMap is currently under active development in the [WebODM](https://github.com/OpenDroneMap/WebODM) repository.
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## Video Support
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Currently we have an experimental feature that uses ORB_SLAM to render a textured mesh from video. It is only supported on Ubuntu 14.04 on machines with X11 support. See the [wiki](https://github.com/OpenDroneMap/OpenDroneMap/wiki/Reconstruction-from-Video) for details on installation and use.
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## Examples
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Coming soon...
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## Documentation:
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For documentation, everything is being moved to [http://docs.opendronemap.org/](http://docs.opendronemap.org/) but you can also take a look at our [wiki](https://github.com/OpenDroneMap/OpenDroneMap/wiki). Check those places first if you are having problems. There's also help at [community forum](http://community.opendronemap.org/), and if you still need help and think you've found a bug or need an enhancement, look through the issue queue or create one.
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## Developers
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Help improve our software!
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[](https://gitter.im/OpenDroneMap/OpenDroneMap?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)
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1. Try to keep commits clean and simple
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2. Submit a pull request with detailed changes and test results
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