OpenDroneMap-ODM/scripts/odm_app.py

187 wiersze
9.1 KiB
Python

import ecto
import os
from opendm import context
from opendm import types
from opendm import io
from opendm import system
from dataset import ODMLoadDatasetCell
from opensfm import ODMOpenSfMCell
from odm_slam import ODMSlamCell
from pmvs import ODMPmvsCell
from cmvs import ODMCmvsCell
from odm_meshing import ODMeshingCell
from mvstex import ODMMvsTexCell
from odm_georeferencing import ODMGeoreferencingCell
from odm_orthophoto import ODMOrthoPhotoCell
class ODMApp(ecto.BlackBox):
"""ODMApp - a class for ODM Activities
"""
def __init__(self, *args, **kwargs):
ecto.BlackBox.__init__(self, *args, **kwargs)
self.tree = None
@staticmethod
def declare_direct_params(p):
p.declare("args", "The application arguments.", {})
@staticmethod
def declare_cells(p):
"""
Implement the virtual function from the base class
Only cells from which something is forwarded have to be declared
"""
cells = {'args': ecto.Constant(value=p.args),
'dataset': ODMLoadDatasetCell(force_focal=p.args.force_focal,
force_ccd=p.args.force_ccd),
'opensfm': ODMOpenSfMCell(use_exif_size=False,
feature_process_size=p.args.resize_to,
feature_min_frames=p.args.min_num_features,
processes=p.args.opensfm_processes,
matching_gps_neighbors=p.args.matcher_neighbors,
matching_gps_distance=p.args.matcher_distance,
fixed_camera_params=p.args.use_fixed_camera_params),
'slam': ODMSlamCell(),
'cmvs': ODMCmvsCell(max_images=p.args.cmvs_maxImages),
'pmvs': ODMPmvsCell(level=p.args.pmvs_level,
csize=p.args.pmvs_csize,
thresh=p.args.pmvs_threshold,
wsize=p.args.pmvs_wsize,
min_imgs=p.args.pmvs_min_images,
cores=p.args.pmvs_num_cores),
'meshing': ODMeshingCell(max_vertex=p.args.mesh_size,
oct_tree=p.args.mesh_octree_depth,
samples=p.args.mesh_samples,
solver=p.args.mesh_solver_divide,
remove_outliers=p.args.mesh_remove_outliers,
wlop_iterations=p.args.mesh_wlop_iterations,
verbose=p.args.verbose),
'texturing': ODMMvsTexCell(data_term=p.args.texturing_data_term,
outlier_rem_type=p.args.texturing_outlier_removal_type,
skip_vis_test=p.args.texturing_skip_visibility_test,
skip_glob_seam_leveling=p.args.texturing_skip_global_seam_leveling,
skip_loc_seam_leveling=p.args.texturing_skip_local_seam_leveling,
skip_hole_fill=p.args.texturing_skip_hole_filling,
keep_unseen_faces=p.args.texturing_keep_unseen_faces,
tone_mapping=p.args.texturing_tone_mapping),
'georeferencing': ODMGeoreferencingCell(img_size=p.args.resize_to,
gcp_file=p.args.gcp,
use_exif=p.args.use_exif,
dem=p.args.dem,
sample_radius=p.args.dem_sample_radius,
gdal_res=p.args.dem_resolution,
gdal_radius=p.args.dem_radius,
verbose=p.args.verbose),
'orthophoto': ODMOrthoPhotoCell(resolution=p.args.orthophoto_resolution,
t_srs=p.args.orthophoto_target_srs,
no_tiled=p.args.orthophoto_no_tiled,
compress=p.args.orthophoto_compression,
bigtiff=p.args.orthophoto_bigtiff,
build_overviews=p.args.build_overviews,
verbose=p.args.verbose)
}
return cells
def configure(self, p, _i, _o):
tree = types.ODM_Tree(p.args.project_path, p.args.images)
self.tree = ecto.Constant(value=tree)
# TODO(dakota) put this somewhere better maybe
if p.args.time and io.file_exists(tree.benchmarking):
# Delete the previously made file
os.remove(tree.benchmarking)
with open(tree.benchmarking, 'a') as b:
b.write('ODM Benchmarking file created %s\nNumber of Cores: %s\n\n' % (system.now(), context.num_cores))
def connections(self, p):
if p.args.video:
return self.slam_connections(_p)
# define initial task
# TODO: What is this?
# initial_task = p.args['start_with']
# initial_task_id = config.processopts.index(initial_task)
# define the connections like you would for the plasm
# load the dataset
connections = [self.tree[:] >> self.dataset['tree']]
# run opensfm with images from load dataset
connections += [self.tree[:] >> self.opensfm['tree'],
self.args[:] >> self.opensfm['args'],
self.dataset['photos'] >> self.opensfm['photos']]
if not p.args.use_pmvs:
# create odm mesh from opensfm point cloud
connections += [self.tree[:] >> self.meshing['tree'],
self.args[:] >> self.meshing['args'],
self.opensfm['reconstruction'] >> self.meshing['reconstruction']]
else:
# run cmvs
connections += [self.tree[:] >> self.cmvs['tree'],
self.args[:] >> self.cmvs['args'],
self.opensfm['reconstruction'] >> self.cmvs['reconstruction']]
# run pmvs
connections += [self.tree[:] >> self.pmvs['tree'],
self.args[:] >> self.pmvs['args'],
self.cmvs['reconstruction'] >> self.pmvs['reconstruction']]
# create odm mesh from pmvs point cloud
connections += [self.tree[:] >> self.meshing['tree'],
self.args[:] >> self.meshing['args'],
self.pmvs['reconstruction'] >> self.meshing['reconstruction']]
# create odm texture
connections += [self.tree[:] >> self.texturing['tree'],
self.args[:] >> self.texturing['args'],
self.meshing['reconstruction'] >> self.texturing['reconstruction']]
# create odm georeference
connections += [self.tree[:] >> self.georeferencing['tree'],
self.args[:] >> self.georeferencing['args'],
self.dataset['photos'] >> self.georeferencing['photos'],
self.texturing['reconstruction'] >> self.georeferencing['reconstruction']]
# create odm orthophoto
connections += [self.tree[:] >> self.orthophoto['tree'],
self.args[:] >> self.orthophoto['args'],
self.georeferencing['reconstruction'] >> self.orthophoto['reconstruction']]
return connections
def slam_connections(self, p):
"""Get connections used when running from video instead of images."""
connections = []
# run slam cell
connections += [self.tree[:] >> self.slam['tree'],
self.args[:] >> self.slam['args']]
# run cmvs
connections += [self.tree[:] >> self.cmvs['tree'],
self.args[:] >> self.cmvs['args'],
self.slam['reconstruction'] >> self.cmvs['reconstruction']]
# run pmvs
connections += [self.tree[:] >> self.pmvs['tree'],
self.args[:] >> self.pmvs['args'],
self.cmvs['reconstruction'] >> self.pmvs['reconstruction']]
# create odm mesh
connections += [self.tree[:] >> self.meshing['tree'],
self.args[:] >> self.meshing['args'],
self.pmvs['reconstruction'] >> self.meshing['reconstruction']]
# create odm texture
connections += [self.tree[:] >> self.texturing['tree'],
self.args[:] >> self.texturing['args'],
self.meshing['reconstruction'] >> self.texturing['reconstruction']]
return connections