kopia lustrzana https://github.com/OpenDroneMap/ODM
318 wiersze
15 KiB
Python
318 wiersze
15 KiB
Python
import os
|
|
import shutil
|
|
import json
|
|
import yaml
|
|
from opendm import log
|
|
from opendm.osfm import OSFMContext, get_submodel_argv, get_submodel_paths, get_all_submodel_paths
|
|
from opendm import types
|
|
from opendm import io
|
|
from opendm import system
|
|
from opendm import orthophoto
|
|
from opendm.gcp import GCPFile
|
|
from opendm.dem import pdal, utils
|
|
from opendm.dem.merge import euclidean_merge_dems
|
|
from opensfm.large import metadataset
|
|
from opendm.cropper import Cropper
|
|
from opendm.concurrency import get_max_memory
|
|
from opendm.remote import LocalRemoteExecutor
|
|
from opendm.shots import merge_geojson_shots
|
|
from opendm import point_cloud
|
|
from opendm.utils import double_quote
|
|
from opendm.tiles.tiler import generate_dem_tiles
|
|
from opendm.cogeo import convert_to_cogeo
|
|
|
|
class ODMSplitStage(types.ODM_Stage):
|
|
def process(self, args, outputs):
|
|
tree = outputs['tree']
|
|
reconstruction = outputs['reconstruction']
|
|
photos = reconstruction.photos
|
|
|
|
outputs['large'] = len(photos) > args.split
|
|
|
|
if outputs['large']:
|
|
# If we have a cluster address, we'll use a distributed workflow
|
|
local_workflow = not bool(args.sm_cluster)
|
|
|
|
octx = OSFMContext(tree.opensfm)
|
|
split_done_file = octx.path("split_done.txt")
|
|
|
|
if not io.file_exists(split_done_file) or self.rerun():
|
|
orig_max_concurrency = args.max_concurrency
|
|
if not local_workflow:
|
|
args.max_concurrency = max(1, args.max_concurrency - 1)
|
|
log.ODM_INFO("Setting max-concurrency to %s to better handle remote splits" % args.max_concurrency)
|
|
|
|
log.ODM_INFO("Large dataset detected (%s photos) and split set at %s. Preparing split merge." % (len(photos), args.split))
|
|
config = [
|
|
"submodels_relpath: " + os.path.join("..", "submodels", "opensfm"),
|
|
"submodel_relpath_template: " + os.path.join("..", "submodels", "submodel_%04d", "opensfm"),
|
|
"submodel_images_relpath_template: " + os.path.join("..", "submodels", "submodel_%04d", "images"),
|
|
"submodel_size: %s" % args.split,
|
|
"submodel_overlap: %s" % args.split_overlap,
|
|
]
|
|
|
|
octx.setup(args, tree.dataset_raw, reconstruction=reconstruction, append_config=config, rerun=self.rerun())
|
|
octx.photos_to_metadata(photos, self.rerun())
|
|
|
|
self.update_progress(5)
|
|
|
|
if local_workflow:
|
|
octx.feature_matching(self.rerun())
|
|
|
|
self.update_progress(20)
|
|
|
|
# Create submodels
|
|
if not io.dir_exists(tree.submodels_path) or self.rerun():
|
|
if io.dir_exists(tree.submodels_path):
|
|
log.ODM_WARNING("Removing existing submodels directory: %s" % tree.submodels_path)
|
|
shutil.rmtree(tree.submodels_path)
|
|
|
|
octx.run("create_submodels")
|
|
else:
|
|
log.ODM_WARNING("Submodels directory already exist at: %s" % tree.submodels_path)
|
|
|
|
# Find paths of all submodels
|
|
mds = metadataset.MetaDataSet(tree.opensfm)
|
|
submodel_paths = [os.path.abspath(p) for p in mds.get_submodel_paths()]
|
|
|
|
for sp in submodel_paths:
|
|
sp_octx = OSFMContext(sp)
|
|
|
|
# Copy filtered GCP file if needed
|
|
# One in OpenSfM's directory, one in the submodel project directory
|
|
if reconstruction.gcp and reconstruction.gcp.exists():
|
|
submodel_gcp_file = os.path.abspath(sp_octx.path("..", "gcp_list.txt"))
|
|
submodel_images_dir = os.path.abspath(sp_octx.path("..", "images"))
|
|
|
|
if reconstruction.gcp.make_filtered_copy(submodel_gcp_file, submodel_images_dir):
|
|
log.ODM_INFO("Copied filtered GCP file to %s" % submodel_gcp_file)
|
|
io.copy(submodel_gcp_file, os.path.abspath(sp_octx.path("gcp_list.txt")))
|
|
else:
|
|
log.ODM_INFO("No GCP will be copied for %s, not enough images in the submodel are referenced by the GCP" % sp_octx.name())
|
|
|
|
# Copy GEO file if needed (one for each submodel project directory)
|
|
if tree.odm_geo_file is not None and os.path.isfile(tree.odm_geo_file):
|
|
geo_dst_path = os.path.abspath(sp_octx.path("..", "geo.txt"))
|
|
io.copy(tree.odm_geo_file, geo_dst_path)
|
|
log.ODM_INFO("Copied GEO file to %s" % geo_dst_path)
|
|
|
|
# Reconstruct each submodel
|
|
log.ODM_INFO("Dataset has been split into %s submodels. Reconstructing each submodel..." % len(submodel_paths))
|
|
self.update_progress(25)
|
|
|
|
if local_workflow:
|
|
for sp in submodel_paths:
|
|
log.ODM_INFO("Reconstructing %s" % sp)
|
|
OSFMContext(sp).reconstruct(self.rerun())
|
|
else:
|
|
lre = LocalRemoteExecutor(args.sm_cluster, self.rerun())
|
|
lre.set_projects([os.path.abspath(os.path.join(p, "..")) for p in submodel_paths])
|
|
lre.run_reconstruction()
|
|
|
|
self.update_progress(50)
|
|
|
|
mds = metadataset.MetaDataSet(tree.opensfm)
|
|
submodel_paths = [os.path.abspath(p) for p in mds.get_submodel_paths()]
|
|
|
|
# Align
|
|
octx.align_reconstructions(self.rerun())
|
|
|
|
self.update_progress(55)
|
|
|
|
# Aligned reconstruction is in reconstruction.aligned.json
|
|
# We need to rename it to reconstruction.json
|
|
remove_paths = []
|
|
for sp in submodel_paths:
|
|
sp_octx = OSFMContext(sp)
|
|
|
|
aligned_recon = sp_octx.path('reconstruction.aligned.json')
|
|
unaligned_recon = sp_octx.path('reconstruction.unaligned.json')
|
|
main_recon = sp_octx.path('reconstruction.json')
|
|
|
|
if io.file_exists(main_recon) and io.file_exists(unaligned_recon) and not self.rerun():
|
|
log.ODM_INFO("Submodel %s has already been aligned." % sp_octx.name())
|
|
continue
|
|
|
|
if not io.file_exists(aligned_recon):
|
|
log.ODM_WARNING("Submodel %s does not have an aligned reconstruction (%s). "
|
|
"This could mean that the submodel could not be reconstructed "
|
|
" (are there enough features to reconstruct it?). Skipping." % (sp_octx.name(), aligned_recon))
|
|
remove_paths.append(sp)
|
|
continue
|
|
|
|
if io.file_exists(main_recon):
|
|
shutil.move(main_recon, unaligned_recon)
|
|
|
|
shutil.move(aligned_recon, main_recon)
|
|
log.ODM_INFO("%s is now %s" % (aligned_recon, main_recon))
|
|
|
|
# Remove invalid submodels
|
|
submodel_paths = [p for p in submodel_paths if not p in remove_paths]
|
|
|
|
# Run ODM toolchain for each submodel
|
|
if local_workflow:
|
|
for sp in submodel_paths:
|
|
sp_octx = OSFMContext(sp)
|
|
|
|
log.ODM_INFO("========================")
|
|
log.ODM_INFO("Processing %s" % sp_octx.name())
|
|
log.ODM_INFO("========================")
|
|
|
|
argv = get_submodel_argv(args, tree.submodels_path, sp_octx.name())
|
|
|
|
# Re-run the ODM toolchain on the submodel
|
|
system.run(" ".join(map(double_quote, map(str, argv))), env_vars=os.environ.copy())
|
|
else:
|
|
lre.set_projects([os.path.abspath(os.path.join(p, "..")) for p in submodel_paths])
|
|
lre.run_toolchain()
|
|
|
|
# Restore max_concurrency value
|
|
args.max_concurrency = orig_max_concurrency
|
|
|
|
octx.touch(split_done_file)
|
|
else:
|
|
log.ODM_WARNING('Found a split done file in: %s' % split_done_file)
|
|
else:
|
|
log.ODM_INFO("Normal dataset, will process all at once.")
|
|
self.progress = 0.0
|
|
|
|
|
|
class ODMMergeStage(types.ODM_Stage):
|
|
def process(self, args, outputs):
|
|
tree = outputs['tree']
|
|
reconstruction = outputs['reconstruction']
|
|
|
|
if outputs['large']:
|
|
if not os.path.exists(tree.submodels_path):
|
|
raise system.ExitException("We reached the merge stage, but %s folder does not exist. Something must have gone wrong at an earlier stage. Check the log and fix possible problem before restarting?" % tree.submodels_path)
|
|
|
|
|
|
# Merge point clouds
|
|
if args.merge in ['all', 'pointcloud']:
|
|
if not io.file_exists(tree.odm_georeferencing_model_laz) or self.rerun():
|
|
all_point_clouds = get_submodel_paths(tree.submodels_path, "odm_georeferencing", "odm_georeferenced_model.laz")
|
|
|
|
try:
|
|
point_cloud.merge(all_point_clouds, tree.odm_georeferencing_model_laz, rerun=self.rerun())
|
|
point_cloud.post_point_cloud_steps(args, tree, self.rerun())
|
|
except Exception as e:
|
|
log.ODM_WARNING("Could not merge point cloud: %s (skipping)" % str(e))
|
|
else:
|
|
log.ODM_WARNING("Found merged point cloud in %s" % tree.odm_georeferencing_model_laz)
|
|
|
|
|
|
self.update_progress(25)
|
|
|
|
# Merge crop bounds
|
|
merged_bounds_file = os.path.join(tree.odm_georeferencing, 'odm_georeferenced_model.bounds.gpkg')
|
|
if not io.file_exists(merged_bounds_file) or self.rerun():
|
|
all_bounds = get_submodel_paths(tree.submodels_path, 'odm_georeferencing', 'odm_georeferenced_model.bounds.gpkg')
|
|
log.ODM_INFO("Merging all crop bounds: %s" % all_bounds)
|
|
if len(all_bounds) > 0:
|
|
# Calculate a new crop area
|
|
# based on the convex hull of all crop areas of all submodels
|
|
# (without a buffer, otherwise we are double-cropping)
|
|
Cropper.merge_bounds(all_bounds, merged_bounds_file, 0)
|
|
else:
|
|
log.ODM_WARNING("No bounds found for any submodel.")
|
|
|
|
# Merge orthophotos
|
|
if args.merge in ['all', 'orthophoto']:
|
|
if not io.dir_exists(tree.odm_orthophoto):
|
|
system.mkdir_p(tree.odm_orthophoto)
|
|
|
|
if not io.file_exists(tree.odm_orthophoto_tif) or self.rerun():
|
|
all_orthos_and_ortho_cuts = get_all_submodel_paths(tree.submodels_path,
|
|
os.path.join("odm_orthophoto", "odm_orthophoto_feathered.tif"),
|
|
os.path.join("odm_orthophoto", "odm_orthophoto_cut.tif"),
|
|
)
|
|
|
|
if len(all_orthos_and_ortho_cuts) > 1:
|
|
log.ODM_INFO("Found %s submodels with valid orthophotos and cutlines" % len(all_orthos_and_ortho_cuts))
|
|
|
|
# TODO: histogram matching via rasterio
|
|
# currently parts have different color tones
|
|
|
|
if io.file_exists(tree.odm_orthophoto_tif):
|
|
os.remove(tree.odm_orthophoto_tif)
|
|
|
|
orthophoto_vars = orthophoto.get_orthophoto_vars(args)
|
|
orthophoto.merge(all_orthos_and_ortho_cuts, tree.odm_orthophoto_tif, orthophoto_vars)
|
|
orthophoto.post_orthophoto_steps(args, merged_bounds_file, tree.odm_orthophoto_tif, tree.orthophoto_tiles)
|
|
elif len(all_orthos_and_ortho_cuts) == 1:
|
|
# Simply copy
|
|
log.ODM_WARNING("A single orthophoto/cutline pair was found between all submodels.")
|
|
shutil.copyfile(all_orthos_and_ortho_cuts[0][0], tree.odm_orthophoto_tif)
|
|
else:
|
|
log.ODM_WARNING("No orthophoto/cutline pairs were found in any of the submodels. No orthophoto will be generated.")
|
|
else:
|
|
log.ODM_WARNING("Found merged orthophoto in %s" % tree.odm_orthophoto_tif)
|
|
|
|
self.update_progress(75)
|
|
|
|
# Merge DEMs
|
|
def merge_dems(dem_filename, human_name):
|
|
if not io.dir_exists(tree.path('odm_dem')):
|
|
system.mkdir_p(tree.path('odm_dem'))
|
|
|
|
dem_file = tree.path("odm_dem", dem_filename)
|
|
if not io.file_exists(dem_file) or self.rerun():
|
|
all_dems = get_submodel_paths(tree.submodels_path, "odm_dem", dem_filename)
|
|
log.ODM_INFO("Merging %ss" % human_name)
|
|
|
|
# Merge
|
|
dem_vars = utils.get_dem_vars(args)
|
|
eu_map_source = None # Default
|
|
|
|
# Use DSM's euclidean map for DTMs
|
|
# (requires the DSM to be computed)
|
|
if human_name == "DTM":
|
|
eu_map_source = "dsm"
|
|
|
|
euclidean_merge_dems(all_dems, dem_file, dem_vars, euclidean_map_source=eu_map_source)
|
|
|
|
if io.file_exists(dem_file):
|
|
# Crop
|
|
if args.crop > 0 or args.boundary:
|
|
Cropper.crop(merged_bounds_file, dem_file, dem_vars, keep_original=not args.optimize_disk_space)
|
|
log.ODM_INFO("Created %s" % dem_file)
|
|
|
|
if args.tiles:
|
|
generate_dem_tiles(dem_file, tree.path("%s_tiles" % human_name.lower()), args.max_concurrency)
|
|
|
|
if args.cog:
|
|
convert_to_cogeo(dem_file, max_workers=args.max_concurrency)
|
|
else:
|
|
log.ODM_WARNING("Cannot merge %s, %s was not created" % (human_name, dem_file))
|
|
|
|
else:
|
|
log.ODM_WARNING("Found merged %s in %s" % (human_name, dem_filename))
|
|
|
|
if args.merge in ['all', 'dem'] and args.dsm:
|
|
merge_dems("dsm.tif", "DSM")
|
|
|
|
if args.merge in ['all', 'dem'] and args.dtm:
|
|
merge_dems("dtm.tif", "DTM")
|
|
|
|
self.update_progress(95)
|
|
|
|
# Merge reports
|
|
if not io.dir_exists(tree.odm_report):
|
|
system.mkdir_p(tree.odm_report)
|
|
|
|
geojson_shots = tree.path(tree.odm_report, "shots.geojson")
|
|
if not io.file_exists(geojson_shots) or self.rerun():
|
|
geojson_shots_files = get_submodel_paths(tree.submodels_path, "odm_report", "shots.geojson")
|
|
log.ODM_INFO("Merging %s shots.geojson files" % len(geojson_shots_files))
|
|
merge_geojson_shots(geojson_shots_files, geojson_shots)
|
|
else:
|
|
log.ODM_WARNING("Found merged shots.geojson in %s" % tree.odm_report)
|
|
|
|
# Stop the pipeline short by skipping to the postprocess stage.
|
|
# Afterwards, we're done.
|
|
self.next_stage = self.last_stage()
|
|
else:
|
|
log.ODM_INFO("Normal dataset, nothing to merge.")
|
|
self.progress = 0.0
|
|
|
|
|