kopia lustrzana https://github.com/OpenDroneMap/ODM
986 wiersze
43 KiB
Python
Executable File
986 wiersze
43 KiB
Python
Executable File
#!/usr/bin/python
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import os
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import sys
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import multiprocessing
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import json
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import datetime
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import re
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import subprocess
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import shutil
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import shlex
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# import collections # Never used
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import fractions
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import argparse
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import errno
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import knnMatch_exif
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# the defs
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CURRENT_DIR = os.getcwd()
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BIN_PATH_ABS = os.path.abspath(os.path.dirname(os.path.abspath(__file__)))
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PYOPENCV_PATH = os.path.join(BIN_PATH_ABS, 'lib/python2.7/dist-packages')
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OPENSFM_PATH = os.path.join(BIN_PATH_ABS, "src/OpenSfM")
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CORES = multiprocessing.cpu_count()
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def get_ccd_widths():
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"""Return the CCD Width of the camera listed in the JSON defs file."""
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with open(BIN_PATH_ABS + '/ccd_defs.json') as jsonFile:
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return json.load(jsonFile)
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objects = []
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ccdWidths = get_ccd_widths()
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BIN_PATH = BIN_PATH_ABS + '/bin'
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objectStats = {
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'count': 0, 'good': 0, 'bad': 0, 'minWidth': 0, 'minHeight': 0,
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'maxWidth': 0, 'maxHeight': 0
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}
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jobOptions = {'resizeTo': 0, 'srcDir': CURRENT_DIR, 'utmZone': -999,
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'utmSouth': False, 'utmEastOffset': 0, 'utmNorthOffset': 0}
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# parse arguments
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processopts = ['resize', 'getKeypoints', 'match', 'bundler', 'cmvs', 'pmvs',
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'odm_meshing', 'odm_texturing', 'odm_georeferencing',
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'odm_orthophoto']
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parser = argparse.ArgumentParser(description='OpenDroneMap')
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parser.add_argument('--resize-to', # currently doesn't support 'orig'
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metavar='<integer>',
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default=2400,
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type=int,
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help='resizes images by the largest side')
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parser.add_argument('--start-with', '-s',
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metavar='<string>',
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default='resize',
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choices=processopts,
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help=('Can be one of: ' + ' | '.join(processopts)))
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parser.add_argument('--end-with', '-e',
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metavar='<string>',
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default='odm_orthophoto',
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choices=processopts,
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help=('Can be one of:' + ' | '.join(processopts)))
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parser.add_argument('--run-only',
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metavar='<string>',
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choices=processopts,
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help=('Can be one of:' + ' | '.join(processopts)))
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parser.add_argument('--force-focal',
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metavar='<positive float>',
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type=float,
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help=('Override the focal length information for the '
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'images'))
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parser.add_argument('--force-ccd',
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metavar='<positive float>',
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type=float,
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help='Override the ccd width information for the images')
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parser.add_argument('--matcher-threshold',
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metavar='<percent>',
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default=2.0,
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type=float,
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help=('Ignore matched keypoints if the two images share '
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'less than <float> percent of keypoints'))
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parser.add_argument('--matcher-ratio',
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metavar='<float>',
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default=0.6,
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type=float,
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help=('Ratio of the distance to the next best matched '
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'keypoint'))
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parser.add_argument('--matcher-preselect',
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type=bool,
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metavar='',
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default=True,
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help=('use GPS exif data, if available, to match each '
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'image only with its k-nearest neighbors, or all '
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'images within a certain distance threshold'))
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parser.add_argument('--matcher-useKnn',
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type=bool,
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metavar='',
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default=True,
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help=('use GPS exif data, if available, to match each '
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'image only with its k-nearest neighbors, or all '
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'images within a certain distance threshold'))
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parser.add_argument('--matcher-kDistance',
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metavar='<integer>',
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default=20,
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type=int,
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help='')
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parser.add_argument('--cmvs-maxImages',
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metavar='<integer>',
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default=500,
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type=int,
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help='The maximum number of images per cluster')
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parser.add_argument('--pmvs-level',
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metavar='<positive integer>',
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default=1,
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type=int,
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help=('The level in the image pyramid that is used '
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'for the computation. see '
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'http://www.di.ens.fr/pmvs/documentation.html for '
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'more pmvs documentation'))
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parser.add_argument('--pmvs-csize',
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metavar='< positive integer>',
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default=2,
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type=int,
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help='Cell size controls the density of reconstructions')
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parser.add_argument('--pmvs-threshold',
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metavar='<float: -1.0 <= x <= 1.0>',
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default=0.7,
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type=float,
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help=('A patch reconstruction is accepted as a success '
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'and kept, if its associcated photometric consistency '
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'measure is above this threshold.'))
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parser.add_argument('--pmvs-wsize',
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metavar='<positive integer>',
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default=7,
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type=int,
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help=('pmvs samples wsize x wsize pixel colors from '
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'each image to compute photometric consistency '
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'score. For example, when wsize=7, 7x7=49 pixel '
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'colors are sampled in each image. Increasing the '
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'value leads to more stable reconstructions, but '
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'the program becomes slower.'))
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parser.add_argument('--pmvs-minImageNum',
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metavar='<positive integer>',
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default=3,
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type=int,
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help=('Each 3D point must be visible in at least '
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'minImageNum images for being reconstructed. 3 is '
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'suggested in general.'))
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parser.add_argument('--odm_meshing-maxVertexCount',
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metavar='<positive integer>',
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default=100000,
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type=int,
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help='The maximum vertex count of the output mesh')
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parser.add_argument('--odm_meshing-octreeDepth',
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metavar='<positive integer>',
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default=9,
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type=int,
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help=('Oct-tree depth used in the mesh reconstruction, '
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'increase to get more vertices, recommended '
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'values are 8-12'))
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parser.add_argument('--odm_meshing-samplesPerNode',
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metavar='<float >= 1.0>',
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default=1,
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type=float,
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help=('Number of points per octree node, recommended '
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'value: 1.0'))
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parser.add_argument('--odm_meshing-solverDivide',
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metavar='<positive integer>',
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default=9,
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type=int,
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help=('Oct-tree depth at which the Laplacian equation '
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'is solved in the surface reconstruction step. '
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'Increasing this value increases computation '
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'times slightly but helps reduce memory usage.'))
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parser.add_argument('--odm_texturing-textureResolution',
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metavar='<positive integer>',
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default=4096,
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type=int,
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help=('The resolution of the output textures. Must be '
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'greater than textureWithSize.'))
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parser.add_argument('--odm_texturing-textureWithSize',
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metavar='<positive integer>',
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default=3600,
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type=int,
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help=('The resolution to rescale the images performing '
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'the texturing.'))
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parser.add_argument('--odm_georeferencing-gcpFile',
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metavar='<path string>',
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default='gcp_list.txt',
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help=('path to the file containing the ground control '
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'points used for georeferencing.The file needs to '
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'be on the following line format: \neasting '
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'northing height pixelrow pixelcol imagename'))
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parser.add_argument('--odm_georeferencing-useGcp',
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type = bool,
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default = False,
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help = 'set to true for enabling GCPs from the file above')
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parser.add_argument('--zip-results',
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action='store_true',
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default=False,
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help='compress the results using gunzip')
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parser.add_argument('--use-opensfm',
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type=bool,
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default=False,
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help='use OpenSfM instead of Bundler to find the camera positions '
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'(replaces getKeypoints, match and bundler steps)')
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args = parser.parse_args()
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print "\n - configuration:"
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print vars(args)
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# for key in vars(args):
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# if key != "":
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# print " " + key + ": " + str(args[key])
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# print "\n"
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def run(cmd):
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"""Run a system command"""
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print 'running', cmd
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returnCode = os.system(cmd)
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print 'b'
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if (returnCode != 0):
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sys.exit("\nquitting cause: \n\t" + cmd + "\nreturned with code " +
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str(returnCode) + ".\n")
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def now():
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"""Return the current time"""
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return datetime.datetime.now().strftime('%a %b %d %H:%M:%S %Z %Y')
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def run_and_return(cmdSrc, cmdDest):
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"""Run a system command and return the output"""
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srcProcess = subprocess.Popen(shlex.split(cmdSrc), stdout=subprocess.PIPE)
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if cmdDest:
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destProcess = subprocess.Popen(shlex.split(cmdDest),
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stdin=srcProcess.stdout,
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stdout=subprocess.PIPE)
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stdout, stderr = destProcess.communicate()
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else:
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stdout, stderr = srcProcess.communicate()
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return stdout.decode('ascii')
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def mkdir_p(path):
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'''Make a directory including parent directories.
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'''
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try:
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os.makedirs(path)
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except os.error as exc:
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if exc.errno != errno.EEXIST or not os.path.isdir(path):
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raise
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def calculate_EPSG(utmZone, south):
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"""Calculate and return the EPSG"""
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if south:
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return 32700 + utmZone
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else:
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return 32600 + utmZone
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def parse_coordinate_system():
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"""Write attributes to jobOptions from coord file"""
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if os.path.isfile(jobOptions['jobDir'] +
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'/odm_georeferencing/coordFile.txt'):
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with open(jobOptions['jobDir'] + '/odm_georeferencing/coordFile.txt') as f:
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for lineNumber, line in enumerate(f):
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if lineNumber == 0:
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tokens = line.split(' ')
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if len(tokens) == 3:
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utmZoneString = tokens[2][0:len(tokens[2])-2].strip()
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utmSouthBool = (tokens[2][len(tokens[2])-2].strip() == 'S')
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jobOptions['csString'] = '+datum=WGS84 +proj=utm +zone=' + utmZoneString + (' +south' if utmSouthBool else '')
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jobOptions['epsg'] = calculate_EPSG(int(utmZoneString), utmSouthBool)
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elif lineNumber == 1:
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tokens = line.split(' ')
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if len(tokens) == 2:
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jobOptions['utmEastOffset'] = int(tokens[0].strip())
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jobOptions['utmNorthOffset'] = int(tokens[1].strip())
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else:
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break
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def prepare_objects():
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"""Prepare the jobOptions and fileObjects dicts"""
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source_files = run_and_return('ls -1', 'egrep "\.[jJ]{1}[pP]{1}[eE]{0,1}[gG]{1}"')
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print "\n - source files - " + now()
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for filename in source_files.split('\n'):
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filename = filename.rstrip('\n')
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if not filename:
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continue
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file_make = run_and_return('jhead "' + filename + '"', 'grep "Camera make"')
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file_model = run_and_return('jhead "' + filename + '"', 'grep "Camera model"')
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file_focal = run_and_return('jhead "' + filename + '"', 'grep "Focal length"')
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file_ccd = run_and_return('jhead "' + filename + '"', 'grep "CCD width"')
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file_resolution = run_and_return('jhead "' + filename + '"', 'grep "Resolution"')
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fileObject = {}
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fileObject["src"] = filename
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fileObject["base"] = re.sub("\.[^\.]*$", "", filename)
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match = re.search(": ([^\n\r]*)", file_make)
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if match:
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fileObject["make"] = match.group(1).strip()
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match = re.search(": ([^\n\r]*)", file_model)
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if match:
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fileObject["model"] = match.group(1).strip()
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if "make" in fileObject:
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fileObject["make"] = re.sub("^\s+", "", fileObject["make"])
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fileObject["make"] = re.sub("\s+$", "", fileObject["make"])
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if "model" in fileObject:
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fileObject["model"] = re.sub("^\s+", "", fileObject["model"])
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fileObject["model"] = re.sub("\s+$", "", fileObject["model"])
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if "make" in fileObject:
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fileObject["id"] = fileObject["make"]
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if "model" in fileObject:
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fileObject["id"] += " " + fileObject["model"]
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match = re.search(": ([0-9]*) x ([0-9]*)", file_resolution)
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if match:
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fileObject["width"] = int(match.group(1).strip())
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fileObject["height"] = int(match.group(2).strip())
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if args.force_focal is None:
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match = re.search(":[\ ]*([0-9\.]*)mm", file_focal)
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if match:
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fileObject["focal"] = float((match.group()[1:-2]).strip())
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else:
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fileObject["focal"] = args.force_focal
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if args.force_ccd is None:
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match = re.search(":[\ ]*([0-9\.]*)mm", file_ccd)
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if match:
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fileObject["ccd"] = float(match.group()[1:-2].strip())
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if ("ccd" not in fileObject) and ("id" in fileObject):
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fileObject["ccd"] = float(ccdWidths[fileObject["id"]])
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else:
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fileObject["ccd"] = args.force_ccd
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if "ccd" in fileObject and "focal" in fileObject and "width" in fileObject and "height" in fileObject:
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if fileObject["width"] > fileObject["height"]:
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fileObject["focalpx"] = fileObject["width"] * fileObject["focal"] / fileObject["ccd"]
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else:
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fileObject["focalpx"] = fileObject["height"] * fileObject["focal"] / fileObject["ccd"]
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fileObject["isOk"] = True
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objectStats["good"] += 1
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print " using " + fileObject["src"] + " dimensions: " + str(fileObject["width"]) + "x" + str(fileObject["height"]) + " / focal: " + str(fileObject["focal"]) + "mm / ccd: " + str(fileObject["ccd"]) + "mm"
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else:
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fileObject["isOk"] = False
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objectStats["bad"] += 1
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if "id" in fileObject:
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print "\n no CCD width or focal length found for " + fileObject["src"] + " - camera: \"" + fileObject["id"] + "\""
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else:
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print "\n no CCD width or focal length found"
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objectStats["count"] += 1
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if "width" in fileObject and "height" in fileObject:
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if objectStats["minWidth"] == 0:
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objectStats["minWidth"] = fileObject["width"]
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if objectStats["minHeight"] == 0:
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objectStats["minHeight"] = fileObject["height"]
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if objectStats["minWidth"] < fileObject["width"]:
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objectStats["minWidth"] = objectStats["minWidth"]
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else:
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objectStats["minWidth"] = fileObject["width"]
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if objectStats["minHeight"] < fileObject["height"]:
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objectStats["minHeight"] = objectStats["minHeight"]
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else:
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objectStats["minHeight"] = fileObject["height"]
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if objectStats["maxWidth"] > fileObject["width"]:
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objectStats["maxWidth"] = objectStats["maxWidth"]
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else:
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objectStats["maxWidth"] = fileObject["width"]
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if objectStats["maxHeight"] > fileObject["height"]:
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objectStats["maxHeight"] = objectStats["maxHeight"]
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else:
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objectStats["maxHeight"] = fileObject["height"]
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objects.append(fileObject)
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if "good" not in objectStats:
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print "\n found no usable images - quitting\n"
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sys.exit()
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else:
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print "\n found " + str(objectStats["good"]) + " usable images"
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print "\n"
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jobOptions["resizeTo"] = args.resize_to
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print " using max image size of " + str(jobOptions["resizeTo"]) + " x " + str(jobOptions["resizeTo"])
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jobOptions["jobDir"] = jobOptions["srcDir"] + "/reconstruction-with-image-size-" + str(jobOptions["resizeTo"])
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jobOptions["step_1_convert"] = jobOptions["jobDir"] + "/_convert.templist.txt"
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jobOptions["step_1_vlsift"] = jobOptions["jobDir"] + "/_vlsift.templist.txt"
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jobOptions["step_1_gzip"] = jobOptions["jobDir"] + "/_gzip.templist.txt"
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jobOptions["step_2_filelist"] = jobOptions["jobDir"] + "/_filelist.templist.txt"
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jobOptions["step_2_macthes_jobs"] = jobOptions["jobDir"] + "/_matches_jobs.templist.txt"
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jobOptions["step_2_matches_dir"] = jobOptions["jobDir"] + "/matches"
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jobOptions["step_2_matches"] = jobOptions["jobDir"] + "/matches.init.txt"
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jobOptions["step_3_filelist"] = jobOptions["jobDir"] + "/list.txt"
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jobOptions["step_3_bundlerOptions"] = jobOptions["jobDir"] + "/options.txt"
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try:
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os.mkdir(jobOptions["jobDir"])
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except:
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pass
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for fileObject in objects:
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if fileObject["isOk"]:
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fileObject["step_0_resizedImage"] = jobOptions["jobDir"] + "/" + fileObject["src"]
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fileObject["step_1_pgmFile"] = jobOptions["jobDir"] + "/" + fileObject["base"] + ".pgm"
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fileObject["step_1_keyFile"] = jobOptions["jobDir"] + "/" + fileObject["base"] + ".key"
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fileObject["step_1_gzFile"] = jobOptions["jobDir"] + "/" + fileObject["base"] + ".key.gz"
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def resize():
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"""Resize images"""
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print "\n - preparing images - " + now()
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os.chdir(jobOptions["jobDir"])
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for fileObject in objects:
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if fileObject["isOk"]:
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if not os.path.isfile(fileObject["step_0_resizedImage"]):
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if jobOptions["resizeTo"] != 0 and ((int(fileObject["width"]) > jobOptions["resizeTo"]) or (fileObject["height"] > jobOptions["resizeTo"])):
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sys.stdout.write(" resizing " + fileObject["src"] + " \tto " + fileObject["step_0_resizedImage"])
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run("convert -resize " + str(jobOptions["resizeTo"]) + "x" + str(jobOptions["resizeTo"]) + " -quality 100 \"" + jobOptions["srcDir"] + "/" + fileObject["src"] + "\" \"" + fileObject["step_0_resizedImage"] + "\"")
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else:
|
|
sys.stdout.write(" copying " + fileObject["src"] + " \tto " + fileObject["step_0_resizedImage"])
|
|
shutil.copyfile(CURRENT_DIR + "/" + fileObject["src"], fileObject["step_0_resizedImage"])
|
|
else:
|
|
print " using existing " + fileObject["src"] + " \tto " + fileObject["step_0_resizedImage"]
|
|
|
|
file_resolution = run_and_return('jhead "' + fileObject["step_0_resizedImage"] + '"', 'grep "Resolution"')
|
|
match = re.search(": ([0-9]*) x ([0-9]*)", file_resolution)
|
|
if match:
|
|
fileObject["width"] = int(match.group(1).strip())
|
|
fileObject["height"] = int(match.group(2).strip())
|
|
print "\t (" + str(fileObject["width"]) + " x " + str(fileObject["height"]) + ")"
|
|
|
|
|
|
def getKeypoints():
|
|
"""Run vlsift to create keypoint files for each image"""
|
|
print "\n - finding keypoints - " + now()
|
|
|
|
os.chdir(jobOptions["jobDir"])
|
|
|
|
vlsiftJobs = ""
|
|
c = 0
|
|
|
|
for fileObject in objects:
|
|
c += 1
|
|
|
|
if fileObject["isOk"]:
|
|
if not os.path.isfile(jobOptions["jobDir"] + "/" + fileObject["base"] + ".key.bin"):
|
|
vlsiftJobs += "echo -n \"" + str(c) + "/" + str(objectStats["good"]) + " - \" && convert -format pgm \"" + fileObject["step_0_resizedImage"] + "\" \"" + fileObject["step_1_pgmFile"] + "\""
|
|
vlsiftJobs += " && \"" + BIN_PATH + "/vlsift\" \"" + fileObject["step_1_pgmFile"] + "\" -o \"" + fileObject["step_1_keyFile"] + ".sift\" > /dev/null && perl \"" + BIN_PATH + "/../convert_vlsift_to_lowesift.pl\" \"" + jobOptions["jobDir"] + "/" + fileObject["base"] + "\""
|
|
vlsiftJobs += " && gzip -f \"" + fileObject["step_1_keyFile"] + "\""
|
|
vlsiftJobs += " && rm -f \"" + fileObject["step_1_pgmFile"] + "\""
|
|
vlsiftJobs += " && rm -f \"" + fileObject["step_1_keyFile"] + ".sift\"\n"
|
|
else:
|
|
print "using existing " + jobOptions["jobDir"] + "/" + fileObject["base"] + ".key.bin"
|
|
|
|
siftDest = open(jobOptions["step_1_vlsift"], 'w')
|
|
siftDest.write(vlsiftJobs)
|
|
siftDest.close()
|
|
|
|
run("\"" + BIN_PATH + "/parallel\" --no-notice --halt-on-error 1 -j+0 < \"" + jobOptions["step_1_vlsift"] + "\"")
|
|
|
|
|
|
def match():
|
|
"""Run matches on images"""
|
|
print "\n - matching keypoints - " + now()
|
|
|
|
os.chdir(jobOptions["jobDir"])
|
|
try:
|
|
os.mkdir(jobOptions["step_2_matches_dir"])
|
|
except:
|
|
pass
|
|
|
|
matchesJobs = ""
|
|
c = 0
|
|
t = (objectStats["good"] - 1) * (objectStats["good"] / 2) # BUG:unused
|
|
|
|
preselected_pairs = []
|
|
|
|
# Create a file list with all keypoint files
|
|
filesList = ""
|
|
for fileObject in objects:
|
|
if fileObject["isOk"]:
|
|
filesList += fileObject["step_1_keyFile"] + "\n"
|
|
matchDest = open(jobOptions["step_2_filelist"], 'w')
|
|
matchDest.write(filesList)
|
|
matchDest.close()
|
|
|
|
# Check if preselection is to be run
|
|
if args.matcher_preselect:
|
|
useKnn = True
|
|
if args.matcher_useKnn:
|
|
useKnn = False # BUG: never used
|
|
preselected_pairs = knnMatch_exif.preselect_pairs(BIN_PATH + "/odm_extract_utm", jobOptions["step_2_filelist"], args.matcher_kDistance, args.matcher_useKnn)
|
|
if len(preselected_pairs) != 0:
|
|
for i, j, in preselected_pairs:
|
|
c += 1
|
|
if i < 10:
|
|
print i, j
|
|
if not os.path.isfile(jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt"):
|
|
matchesJobs += "echo -n \".\" && touch \"" + jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt\" && \"" + BIN_PATH + "/KeyMatch\" \"" + objects[i]["step_1_keyFile"] + "\" \"" + objects[j]["step_1_keyFile"] + "\" \"" + jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt\" " + str(args.matcher_ratio) + " " + str(args.matcher_threshold) + "\n"
|
|
|
|
|
|
# Match all image pairs
|
|
else:
|
|
if args.matcher_preselect == "true":
|
|
print "Failed to run pair preselection, proceeding with exhaustive matching."
|
|
for i in range(0, objectStats["good"]):
|
|
for j in range(i + 1, objectStats["good"]):
|
|
c += 1
|
|
if not os.path.isfile(jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt"):
|
|
matchesJobs += "echo -n \".\" && touch \"" + jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt\" && \"" + BIN_PATH + "/KeyMatch\" \"" + objects[i]["step_1_keyFile"] + "\" \"" + objects[j]["step_1_keyFile"] + "\" \"" + jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt\" " + str(args.matcher_ratio) + " " + str(args.matcher_threshold) + "\n"
|
|
|
|
matchDest = open(jobOptions["step_2_macthes_jobs"], 'w')
|
|
matchDest.write(matchesJobs)
|
|
matchDest.close()
|
|
|
|
run("\"" + BIN_PATH + "/parallel\" --no-notice --halt-on-error 1 -j+0 < \"" + jobOptions["step_2_macthes_jobs"] + "\"")
|
|
run("rm -f \"" + jobOptions["step_2_matches"] + "\"")
|
|
|
|
for i in range(0, objectStats["good"]):
|
|
for j in range(i + 1, objectStats["good"]):
|
|
c += 1
|
|
if os.path.isfile(jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt") and os.path.getsize(jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt") > 0:
|
|
run("echo \"" + str(i) + " " + str(j) + "\" >> \"" + jobOptions["step_2_matches"] + "\" && cat \"" + jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt\" >> \"" + jobOptions["step_2_matches"] + "\"")
|
|
|
|
filesList = ""
|
|
for fileObject in objects:
|
|
if fileObject["isOk"]:
|
|
filesList += fileObject["step_1_keyFile"] + "\n"
|
|
|
|
matchDest = open(jobOptions["step_2_filelist"], 'w')
|
|
matchDest.write(filesList)
|
|
matchDest.close()
|
|
|
|
# run("\"" + BIN_PATH + "/KeyMatchFull\" \"" + jobOptions["step_2_filelist"] + "\" \"" + jobOptions["step_2_matches"] + "\" ")
|
|
|
|
|
|
def bundler():
|
|
"""Run bundler and prepare bundle for PMVS"""
|
|
print "\n - running bundler - " + now()
|
|
|
|
os.chdir(jobOptions["jobDir"])
|
|
|
|
try:
|
|
os.mkdir(jobOptions["jobDir"] + "/bundle")
|
|
except:
|
|
pass
|
|
try:
|
|
os.mkdir(jobOptions["jobDir"] + "/pmvs")
|
|
except:
|
|
pass
|
|
try:
|
|
os.mkdir(jobOptions["jobDir"] + "/pmvs/txt")
|
|
except:
|
|
pass
|
|
try:
|
|
os.mkdir(jobOptions["jobDir"] + "/pmvs/visualize")
|
|
except:
|
|
pass
|
|
try:
|
|
os.mkdir(jobOptions["jobDir"] + "/pmvs/models")
|
|
except:
|
|
pass
|
|
|
|
filesList = ""
|
|
|
|
for fileObject in objects:
|
|
if fileObject["isOk"]:
|
|
filesList += "./" + fileObject["src"] + " 0 {:.5f}\n".format(fileObject["focalpx"])
|
|
|
|
filesList = filesList.rstrip('\n')
|
|
|
|
bundlerOptions = "--match_table matches.init.txt\n"
|
|
bundlerOptions += "--output bundle.out\n"
|
|
bundlerOptions += "--output_all bundle_\n"
|
|
bundlerOptions += "--output_dir bundle\n"
|
|
bundlerOptions += "--variable_focal_length\n"
|
|
bundlerOptions += "--use_focal_estimate\n"
|
|
bundlerOptions += "--constrain_focal\n"
|
|
bundlerOptions += "--constrain_focal_weight 0.0\n"
|
|
bundlerOptions += "--estimate_distortion\n"
|
|
bundlerOptions += "--run_bundle"
|
|
|
|
run("echo \"" + bundlerOptions + "\" > \"" + jobOptions["step_3_bundlerOptions"] + "\"")
|
|
|
|
bundlerDest = open(jobOptions["step_3_filelist"], 'w')
|
|
bundlerDest.write(filesList)
|
|
bundlerDest.close()
|
|
|
|
run("\"" + BIN_PATH + "/bundler\" \"" + jobOptions["step_3_filelist"] + "\" --options_file \"" + jobOptions["step_3_bundlerOptions"] + "\" > bundle/out")
|
|
run("\"" + BIN_PATH + "/Bundle2PMVS\" \"" + jobOptions["step_3_filelist"] + "\" bundle/bundle.out")
|
|
run("\"" + BIN_PATH + "/RadialUndistort\" \"" + jobOptions["step_3_filelist"] + "\" bundle/bundle.out pmvs")
|
|
|
|
i = 0
|
|
for fileObject in objects:
|
|
if fileObject["isOk"]:
|
|
if os.path.isfile("pmvs/" + fileObject["base"] + ".rd.jpg"):
|
|
nr = "{0:08d}".format(i)
|
|
i += 1
|
|
|
|
run("mv pmvs/" + fileObject["base"] + ".rd.jpg pmvs/visualize/" + str(nr) + ".jpg")
|
|
run("mv pmvs/" + str(nr) + ".txt pmvs/txt/" + str(nr) + ".txt")
|
|
|
|
run("\"" + BIN_PATH + "/Bundle2Vis\" pmvs/bundle.rd.out pmvs/vis.dat")
|
|
|
|
|
|
def opensfm():
|
|
print "\n - running OpenSfM - " + now()
|
|
|
|
os.chdir(jobOptions["jobDir"])
|
|
|
|
# Create bundler's list.txt
|
|
filesList = ""
|
|
for fileObject in objects:
|
|
if fileObject["isOk"]:
|
|
filesList += "./" + fileObject["src"] + " 0 {:.5f}\n".format(fileObject["focalpx"])
|
|
filesList = filesList.rstrip('\n')
|
|
|
|
with open(jobOptions["step_3_filelist"], 'w') as fout:
|
|
fout.write(filesList)
|
|
|
|
# Create opensfm working folder
|
|
mkdir_p("opensfm")
|
|
|
|
# Configure OpenSfM
|
|
config = [
|
|
"use_exif_size: no",
|
|
"features_process_size: {}".format(jobOptions["resizeTo"]),
|
|
"preemptive_threshold: 5",
|
|
"processes: {}".format(CORES),
|
|
]
|
|
with open('opensfm/config.yaml', 'w') as fout:
|
|
fout.write("\n".join(config))
|
|
|
|
print 'running import_bundler'
|
|
# Convert bundler's input to opensfm
|
|
run('PYTHONPATH={} "{}/bin/import_bundler" opensfm --list list.txt'.format(PYOPENCV_PATH, OPENSFM_PATH))
|
|
|
|
# Run OpenSfM reconstruction
|
|
run('PYTHONPATH={} "{}/bin/run_all" opensfm'.format(PYOPENCV_PATH, OPENSFM_PATH))
|
|
|
|
# Convert back to bundler's format
|
|
run('PYTHONPATH={} "{}/bin/export_bundler" opensfm'.format(PYOPENCV_PATH, OPENSFM_PATH))
|
|
|
|
bundler_to_pmvs("opensfm/bundle_r000.out")
|
|
|
|
if args.end_with != "bundler":
|
|
cmvs()
|
|
|
|
|
|
def bundler_to_pmvs(bundle_out):
|
|
"""Converts bundler's output to PMVS format"""
|
|
print "\n - converting bundler output to PMVS - " + now()
|
|
|
|
os.chdir(jobOptions['jobDir'])
|
|
|
|
mkdir_p(jobOptions['jobDir'] + "/pmvs")
|
|
mkdir_p(jobOptions['jobDir'] + "/pmvs/txt")
|
|
mkdir_p(jobOptions['jobDir'] + "/pmvs/visualize")
|
|
mkdir_p(jobOptions['jobDir'] + "/pmvs/models")
|
|
|
|
run("\"" + BIN_PATH + "/Bundle2PMVS\" \"" + jobOptions["step_3_filelist"] + "\" " + bundle_out)
|
|
run("\"" + BIN_PATH + "/RadialUndistort\" \"" + jobOptions["step_3_filelist"] + "\" " + bundle_out + " pmvs")
|
|
|
|
i = 0
|
|
for fileObject in objects:
|
|
if fileObject["isOk"]:
|
|
if os.path.isfile("pmvs/" + fileObject["base"] + ".rd.jpg"):
|
|
nr = "{0:08d}".format(i)
|
|
i += 1
|
|
|
|
run("mv pmvs/" + fileObject["base"] + ".rd.jpg pmvs/visualize/" + str(nr) + ".jpg")
|
|
run("mv pmvs/" + str(nr) + ".txt pmvs/txt/" + str(nr) + ".txt")
|
|
|
|
run("\"" + BIN_PATH + "/Bundle2Vis\" pmvs/bundle.rd.out pmvs/vis.dat")
|
|
|
|
|
|
def cmvs():
|
|
"""Run CMVS"""
|
|
print "\n - running cmvs - " + now()
|
|
|
|
os.chdir(jobOptions["jobDir"])
|
|
|
|
run("\"" + BIN_PATH + "/cmvs\" pmvs/ " + str(args.cmvs_maxImages) + " " + str(CORES))
|
|
run("\"" + BIN_PATH + "/genOption\" pmvs/ " + str(args.pmvs_level) + " " + str(args.pmvs_csize) + " " + str(args.pmvs_threshold) + " " + str(args.pmvs_wsize) + " " + str(args.pmvs_minImageNum) + " " + str(CORES))
|
|
|
|
|
|
def pmvs():
|
|
"""Run PMVS"""
|
|
print "\n - running pmvs - " + now()
|
|
|
|
os.chdir(jobOptions["jobDir"])
|
|
|
|
run("\"" + BIN_PATH + "/pmvs2\" pmvs/ option-0000")
|
|
|
|
run("cp -Rf \"" + jobOptions["jobDir"] + "/pmvs/models\" \"" + jobOptions["jobDir"] + "-results\"")
|
|
|
|
|
|
def odm_meshing():
|
|
"""Run odm_meshing"""
|
|
print "\n - running meshing - " + now()
|
|
|
|
os.chdir(jobOptions["jobDir"])
|
|
try:
|
|
os.mkdir(jobOptions["jobDir"] + "/odm_meshing")
|
|
except:
|
|
pass
|
|
|
|
run("\"" + BIN_PATH + "/odm_meshing\" -inputFile " + jobOptions["jobDir"] + "-results/option-0000.ply -outputFile " + jobOptions["jobDir"] + "-results/odm_mesh-0000.ply -logFile " + jobOptions["jobDir"] + "/odm_meshing/odm_meshing_log.txt -maxVertexCount " + str(args.odm_meshing_maxVertexCount) + " -octreeDepth " + str(args.odm_meshing_octreeDepth) + " -samplesPerNode " + str(args.odm_meshing_samplesPerNode) + " -solverDivide " + str(args.odm_meshing_solverDivide))
|
|
|
|
|
|
def odm_texturing():
|
|
"""Run odm_texturing"""
|
|
print "\n - running texturing - " + now()
|
|
|
|
os.chdir(jobOptions["jobDir"])
|
|
try:
|
|
os.mkdir(jobOptions["jobDir"] + "/odm_texturing")
|
|
os.mkdir(jobOptions["jobDir"] + "-results/odm_texturing")
|
|
except:
|
|
pass
|
|
|
|
# Create list of original image files
|
|
pmvs_list = jobOptions["jobDir"] + "/pmvs/list.rd.txt"
|
|
texturing_list = jobOptions['jobDir'] + "/odm_texturing/image_list.txt"
|
|
with open(pmvs_list) as fin:
|
|
with open(texturing_list, "w") as fout:
|
|
for line in fin:
|
|
base = line.rstrip('\n')[2:-4]
|
|
for fileObject in objects:
|
|
if fileObject["base"] == base:
|
|
fout.write("./{}\n".format(fileObject["src"]))
|
|
break
|
|
|
|
run("\"" + BIN_PATH + "/odm_texturing\" -bundleFile " + jobOptions["jobDir"] + "/pmvs/bundle.rd.out -imagesPath " + jobOptions["srcDir"] + "/ -imagesListPath " + texturing_list + " -inputModelPath " + jobOptions["jobDir"] + "-results/odm_mesh-0000.ply -outputFolder " + jobOptions["jobDir"] + "-results/odm_texturing/ -textureResolution " + str(args.odm_texturing_textureResolution) + " -bundleResizedTo " + str(jobOptions["resizeTo"]) + " -textureWithSize " + str(args.odm_texturing_textureWithSize) + " -logFile " + jobOptions["jobDir"] + "/odm_texturing/odm_texturing_log.txt")
|
|
|
|
|
|
def odm_georeferencing():
|
|
"""Run odm_georeferencing"""
|
|
print "\n - running georeferencing - " + now()
|
|
|
|
os.chdir(jobOptions["jobDir"])
|
|
try:
|
|
os.mkdir(jobOptions["jobDir"] + "/odm_georeferencing")
|
|
except:
|
|
pass
|
|
|
|
if not args.odm_georeferencing_useGcp:
|
|
run("\"" + BIN_PATH + "/odm_extract_utm\" -imagesPath " + jobOptions["srcDir"] + "/ -imageListFile " + jobOptions["jobDir"] + "/pmvs/list.rd.txt -outputCoordFile " + jobOptions["jobDir"] + "/odm_georeferencing/coordFile.txt")
|
|
run("\"" + BIN_PATH + "/odm_georef\" -bundleFile " + jobOptions["jobDir"] + "/pmvs/bundle.rd.out -inputCoordFile " + jobOptions["jobDir"] + "/odm_georeferencing/coordFile.txt -inputFile " + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model.obj -outputFile " + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model_geo.obj -inputPointCloudFile " + jobOptions["jobDir"] + "-results/option-0000.ply -outputPointCloudFile " + jobOptions["jobDir"] + "-results/option-0000_georef.ply -logFile " + jobOptions["jobDir"] + "/odm_georeferencing/odm_georeferencing_log.txt -georefFileOutputPath " + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model_geo_georef_system.txt")
|
|
elif os.path.isfile(jobOptions["srcDir"] + "/" + args.odm_georeferencing_gcpFile):
|
|
run("\"" + BIN_PATH + "/odm_georef\" -bundleFile " + jobOptions["jobDir"] + "/pmvs/bundle.rd.out -gcpFile " + jobOptions["srcDir"] + "/" + args.odm_georeferencing_gcpFile + " -imagesPath " + jobOptions["srcDir"] + "/ -imagesListPath " + jobOptions["jobDir"] + "/pmvs/list.rd.txt -bundleResizedTo " + str(jobOptions["resizeTo"]) + " -inputFile " + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model.obj -outputFile " + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model_geo.obj -outputCoordFile " + jobOptions["jobDir"] + "/odm_georeferencing/coordFile.txt -inputPointCloudFile " + jobOptions["jobDir"] + "-results/option-0000.ply -outputPointCloudFile " + jobOptions["jobDir"] + "-results/option-0000_georef.ply -logFile " + jobOptions["jobDir"] + "/odm_georeferencing/odm_georeferencing_log.txt -georefFileOutputPath " + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model_geo_georef_system.txt")
|
|
else:
|
|
print "Warning: No GCP file. Consider rerunning with argument --odm_georeferencing-useGcp false --start-with odm_georeferencing"
|
|
print "Skipping orthophoto"
|
|
args.end_with = "odm_georeferencing"
|
|
|
|
if "csString" not in jobOptions:
|
|
parse_coordinate_system()
|
|
|
|
if "csString" in jobOptions and "utmEastOffset" in jobOptions and "utmNorthOffset" in jobOptions:
|
|
images = []
|
|
with open(jobOptions["jobDir"] + "/pmvs/list.rd.txt") as f:
|
|
images = f.readlines()
|
|
|
|
if len(images) > 0:
|
|
with open(jobOptions["jobDir"] + "/odm_georeferencing/coordFile.txt") as f:
|
|
for lineNumber, line in enumerate(f):
|
|
if lineNumber >= 2 and lineNumber - 2 < len(images):
|
|
tokens = line.split(' ')
|
|
if len(tokens) >= 3:
|
|
x = float(tokens[0])
|
|
y = float(tokens[1])
|
|
z = float(tokens[2])
|
|
filename = images[lineNumber - 2]
|
|
run("echo " + str(x + jobOptions["utmEastOffset"]) + " " + str(y + jobOptions["utmNorthOffset"]) + " " + str(z) + " | cs2cs " + jobOptions["csString"] + " +to +datum=WGS84 +proj=latlong > " + jobOptions["jobDir"] + "/odm_georeferencing/latlong.txt")
|
|
with open(jobOptions["jobDir"] + "/odm_georeferencing/latlong.txt") as latlongFile:
|
|
latlongLine = latlongFile.readline()
|
|
tokens = latlongLine.split()
|
|
if len(tokens) >= 2:
|
|
exifGpsInfoWritten = False
|
|
|
|
lonString = tokens[0] # Example: 83d18'16.285"W
|
|
latString = tokens[1] # Example: 41d2'11.789"N
|
|
altString = ""
|
|
if len(tokens) > 2:
|
|
altString = tokens[2] # Example: 0.998
|
|
|
|
tokens = re.split("[d '\"]+", lonString)
|
|
if len(tokens) >= 4:
|
|
lonDeg = tokens[0]
|
|
lonMin = tokens[1]
|
|
lonSec = tokens[2]
|
|
lonSecFrac = fractions.Fraction(lonSec)
|
|
lonSecNumerator = str(lonSecFrac._numerator)
|
|
lonSecDenominator = str(lonSecFrac._denominator)
|
|
lonRef = tokens[3]
|
|
|
|
tokens = re.split("[d '\"]+", latString)
|
|
if len(tokens) >= 4:
|
|
latDeg = tokens[0]
|
|
latMin = tokens[1]
|
|
latSec = tokens[2]
|
|
latSecFrac = fractions.Fraction(latSec)
|
|
latSecNumerator = str(latSecFrac._numerator)
|
|
latSecDenominator = str(latSecFrac._denominator)
|
|
latRef = tokens[3]
|
|
|
|
exivCmd = "exiv2 -q"
|
|
exivCmd += " -M\"set Exif.GPSInfo.GPSLatitude " + latDeg + "/1 " + latMin + "/1 " + latSecNumerator + "/" + latSecDenominator + "\""
|
|
exivCmd += " -M\"set Exif.GPSInfo.GPSLatitudeRef " + latRef + "\""
|
|
exivCmd += " -M\"set Exif.GPSInfo.GPSLongitude " + lonDeg + "/1 " + lonMin + "/1 " + lonSecNumerator + "/" + lonSecDenominator + "\""
|
|
exivCmd += " -M\"set Exif.GPSInfo.GPSLongitudeRef " + lonRef + "\""
|
|
|
|
altNumerator = arcDenominator = 0 # BUG: arcDenominator is never used
|
|
if altString:
|
|
altFrac = fractions.Fraction(altString)
|
|
altNumerator = str(altFrac._numerator)
|
|
altDenominator = str(altFrac._denominator)
|
|
exivCmd += " -M\"set Exif.GPSInfo.GPSAltitude " + altNumerator + "/" + altDenominator + "\""
|
|
exivCmd += " -M\"set Exif.GPSInfo.GPSAltitudeRef 0\""
|
|
|
|
exivCmd += " " + filename
|
|
run(exivCmd)
|
|
exifGpsInfoWritten = True
|
|
|
|
if not exifGpsInfoWritten:
|
|
print(" Warning: Failed setting EXIF GPS info for " + filename + " based on " + latlongLine)
|
|
|
|
if "epsg" in jobOptions and "utmEastOffset" in jobOptions and "utmNorthOffset" in jobOptions:
|
|
lasCmd = "\"" + BIN_PATH + "/txt2las\" -i " + jobOptions["jobDir"] + "-results/option-0000_georef.ply -o " + jobOptions["jobDir"] + "-results/pointcloud_georef.laz -skip 30 -parse xyzRGBssss -set_scale 0.01 0.01 0.01 -set_offset " + str(jobOptions["utmEastOffset"]) + " " + str(jobOptions["utmNorthOffset"]) + " 0 -translate_xyz " + str(jobOptions["utmEastOffset"]) + " " + str(jobOptions["utmNorthOffset"]) + " 0 -epsg " + str(jobOptions["epsg"])
|
|
print(" Creating geo-referenced LAS file (expecting warning)...")
|
|
run(lasCmd)
|
|
|
|
|
|
def odm_orthophoto():
|
|
"""Run odm_orthophoto"""
|
|
print "\n - running orthophoto generation - " + now()
|
|
|
|
os.chdir(jobOptions["jobDir"])
|
|
try:
|
|
os.mkdir(jobOptions["jobDir"] + "/odm_orthophoto")
|
|
except:
|
|
pass
|
|
|
|
run("\"" + BIN_PATH + "/odm_orthophoto\" -inputFile " + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model_geo.obj -logFile " + jobOptions["jobDir"] + "/odm_orthophoto/odm_orthophoto_log.txt -outputFile " + jobOptions["jobDir"] + "-results/odm_orthphoto.png -resolution 20.0 -outputCornerFile " + jobOptions["jobDir"] + "/odm_orthphoto_corners.txt")
|
|
|
|
if "csString" not in jobOptions:
|
|
parse_coordinate_system()
|
|
|
|
geoTiffCreated = False
|
|
if ("csString" in jobOptions and
|
|
"utmEastOffset" in jobOptions and "utmNorthOffset" in jobOptions):
|
|
ulx = uly = lrx = lry = 0.0
|
|
with open(jobOptions["jobDir"] +
|
|
"/odm_orthphoto_corners.txt") as f:
|
|
for lineNumber, line in enumerate(f):
|
|
if lineNumber == 0:
|
|
tokens = line.split(' ')
|
|
if len(tokens) == 4:
|
|
ulx = float(tokens[0]) + \
|
|
float(jobOptions["utmEastOffset"])
|
|
lry = float(tokens[1]) + \
|
|
float(jobOptions["utmNorthOffset"])
|
|
lrx = float(tokens[2]) + \
|
|
float(jobOptions["utmEastOffset"])
|
|
uly = float(tokens[3]) + \
|
|
float(jobOptions["utmNorthOffset"])
|
|
|
|
print(" Creating GeoTIFF...")
|
|
sys.stdout.write(" ")
|
|
run("gdal_translate -a_ullr " + str(ulx) + " " + str(uly) + " " +
|
|
str(lrx) + " " + str(lry) + " -a_srs \"" + jobOptions["csString"] +
|
|
"\" " + jobOptions["jobDir"] + "-results/odm_orthphoto.png " +
|
|
jobOptions["jobDir"] + "-results/odm_orthphoto.tif")
|
|
geoTiffCreated = True
|
|
|
|
if not geoTiffCreated:
|
|
print(" Warning: No geo-referenced orthophoto created due to "
|
|
"missing geo-referencing or corner coordinates.")
|
|
|
|
|
|
if args.use_opensfm:
|
|
sfm_tasks = [
|
|
("resize", resize),
|
|
("opensfm", opensfm),
|
|
]
|
|
else:
|
|
sfm_tasks = [
|
|
("resize", resize),
|
|
("getKeypoints", getKeypoints),
|
|
("match", match),
|
|
("bundler", bundler),
|
|
]
|
|
|
|
tasks = sfm_tasks + [
|
|
("cmvs", cmvs),
|
|
("pmvs", pmvs),
|
|
("odm_meshing", odm_meshing),
|
|
("odm_texturing", odm_texturing),
|
|
("odm_georeferencing", odm_georeferencing),
|
|
("odm_orthophoto", odm_orthophoto),
|
|
]
|
|
|
|
|
|
if __name__ == '__main__':
|
|
prepare_objects()
|
|
|
|
os.chdir(jobOptions["jobDir"])
|
|
|
|
run_tasks = False
|
|
for name, func in tasks:
|
|
if args.start_with == name:
|
|
run_tasks = True
|
|
if run_tasks:
|
|
func()
|
|
if args.end_with == name:
|
|
break
|
|
|
|
if args.zip_results:
|
|
print "\nCompressing results - " + now()
|
|
run("cd " + jobOptions["jobDir"] + "-results/ && tar -czf " +
|
|
jobOptions["jobDir"] + "-results.tar.gz *")
|
|
|
|
print "\n - done - " + now()
|