kopia lustrzana https://github.com/OpenDroneMap/ODM
584 wiersze
23 KiB
Python
584 wiersze
23 KiB
Python
"""
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OpenSfM related utils
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"""
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import os, shutil, sys, json, argparse
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import yaml
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from opendm import io
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from opendm import log
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from opendm import system
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from opendm import context
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from opendm import camera
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from opendm.utils import get_depthmap_resolution
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from opendm.photo import find_largest_photo_dim
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from opensfm.large import metadataset
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from opensfm.large import tools
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from opensfm.actions import undistort
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from opensfm.dataset import DataSet
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from opensfm import report
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from opendm.multispectral import get_photos_by_band
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from opendm.gpu import has_gpus
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class OSFMContext:
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def __init__(self, opensfm_project_path):
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self.opensfm_project_path = opensfm_project_path
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def run(self, command):
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system.run('%s/bin/opensfm %s "%s"' %
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(context.opensfm_path, command, self.opensfm_project_path))
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def is_reconstruction_done(self):
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tracks_file = os.path.join(self.opensfm_project_path, 'tracks.csv')
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reconstruction_file = os.path.join(self.opensfm_project_path, 'reconstruction.json')
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return io.file_exists(tracks_file) and io.file_exists(reconstruction_file)
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def reconstruct(self, rerun=False):
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tracks_file = os.path.join(self.opensfm_project_path, 'tracks.csv')
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reconstruction_file = os.path.join(self.opensfm_project_path, 'reconstruction.json')
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if not io.file_exists(tracks_file) or rerun:
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self.run('create_tracks')
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else:
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log.ODM_WARNING('Found a valid OpenSfM tracks file in: %s' % tracks_file)
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if not io.file_exists(reconstruction_file) or rerun:
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self.run('reconstruct')
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else:
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log.ODM_WARNING('Found a valid OpenSfM reconstruction file in: %s' % reconstruction_file)
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# Check that a reconstruction file has been created
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if not self.reconstructed():
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log.ODM_ERROR("The program could not process this dataset using the current settings. "
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"Check that the images have enough overlap, "
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"that there are enough recognizable features "
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"and that the images are in focus. "
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"You could also try to increase the --min-num-features parameter."
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"The program will now exit.")
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exit(1)
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def setup(self, args, images_path, reconstruction, append_config = [], rerun=False):
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"""
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Setup a OpenSfM project
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"""
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if rerun and io.dir_exists(self.opensfm_project_path):
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shutil.rmtree(self.opensfm_project_path)
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if not io.dir_exists(self.opensfm_project_path):
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system.mkdir_p(self.opensfm_project_path)
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list_path = os.path.join(self.opensfm_project_path, 'image_list.txt')
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if not io.file_exists(list_path) or rerun:
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if reconstruction.multi_camera:
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photos = get_photos_by_band(reconstruction.multi_camera, args.primary_band)
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if len(photos) < 1:
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raise Exception("Not enough images in selected band %s" % args.primary_band.lower())
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log.ODM_INFO("Reconstruction will use %s images from %s band" % (len(photos), args.primary_band.lower()))
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else:
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photos = reconstruction.photos
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# create file list
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has_alt = True
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has_gps = False
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with open(list_path, 'w') as fout:
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for photo in photos:
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if not photo.altitude:
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has_alt = False
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if photo.latitude is not None and photo.longitude is not None:
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has_gps = True
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fout.write('%s\n' % os.path.join(images_path, photo.filename))
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# check for image_groups.txt (split-merge)
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image_groups_file = os.path.join(args.project_path, "image_groups.txt")
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if 'split_image_groups_is_set' in args:
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image_groups_file = os.path.abspath(args.split_image_groups)
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if io.file_exists(image_groups_file):
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dst_groups_file = os.path.join(self.opensfm_project_path, "image_groups.txt")
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io.copy(image_groups_file, dst_groups_file)
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log.ODM_INFO("Copied %s to %s" % (image_groups_file, dst_groups_file))
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# check for cameras
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if args.cameras:
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try:
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camera_overrides = camera.get_opensfm_camera_models(args.cameras)
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with open(os.path.join(self.opensfm_project_path, "camera_models_overrides.json"), 'w') as f:
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f.write(json.dumps(camera_overrides))
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log.ODM_INFO("Wrote camera_models_overrides.json to OpenSfM directory")
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except Exception as e:
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log.ODM_WARNING("Cannot set camera_models_overrides.json: %s" % str(e))
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use_bow = args.matcher_type == "bow"
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feature_type = "SIFT"
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# GPSDOP override if we have GPS accuracy information (such as RTK)
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if 'gps_accuracy_is_set' in args:
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log.ODM_INFO("Forcing GPS DOP to %s for all images" % args.gps_accuracy)
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log.ODM_INFO("Writing exif overrides")
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exif_overrides = {}
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for p in photos:
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if 'gps_accuracy_is_set' in args:
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dop = args.gps_accuracy
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elif p.get_gps_dop() is not None:
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dop = p.get_gps_dop()
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else:
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dop = args.gps_accuracy # default value
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if p.latitude is not None and p.longitude is not None:
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exif_overrides[p.filename] = {
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'gps': {
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'latitude': p.latitude,
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'longitude': p.longitude,
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'altitude': p.altitude if p.altitude is not None else 0,
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'dop': dop,
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}
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}
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with open(os.path.join(self.opensfm_project_path, "exif_overrides.json"), 'w') as f:
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f.write(json.dumps(exif_overrides))
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# Check image masks
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masks = []
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for p in photos:
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if p.mask is not None:
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masks.append((p.filename, os.path.join(images_path, p.mask)))
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if masks:
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log.ODM_INFO("Found %s image masks" % len(masks))
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with open(os.path.join(self.opensfm_project_path, "mask_list.txt"), 'w') as f:
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for fname, mask in masks:
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f.write("{} {}\n".format(fname, mask))
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# Compute feature_process_size
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feature_process_size = 2048 # default
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if ('resize_to_is_set' in args) and (int(args.resize_to) != -1):
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# Legacy
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log.ODM_WARNING("Legacy option --resize-to (this might be removed in a future version). Use --feature-quality instead.")
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feature_process_size = int(args.resize_to)
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else:
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feature_quality_scale = {
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'ultra': 1,
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'high': 0.5,
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'medium': 0.25,
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'low': 0.125,
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'lowest': 0.0675,
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}
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max_dim = find_largest_photo_dim(photos)
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if max_dim > 0:
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log.ODM_INFO("Maximum photo dimensions: %spx" % str(max_dim))
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feature_process_size = int(max_dim * feature_quality_scale[args.feature_quality])
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log.ODM_INFO("Photo dimensions for feature phase process: %i px" % feature_process_size)
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else:
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log.ODM_WARNING("Cannot compute max image dimensions, going with defaults")
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depthmap_resolution = get_depthmap_resolution(args, photos)
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# create config file for OpenSfM
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config = [
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"use_exif_size: no",
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"flann_algorithm: KDTREE", # more stable, faster than KMEANS
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"feature_process_size: %s" % feature_process_size,
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"feature_min_frames: %s" % args.min_num_features,
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"processes: %s" % args.max_concurrency,
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"matching_gps_neighbors: %s" % args.matcher_neighbors,
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"matching_gps_distance: %s" % args.matcher_distance,
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"optimize_camera_parameters: %s" % ('no' if args.use_fixed_camera_params or args.cameras else 'yes'),
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"undistorted_image_format: tif",
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"bundle_outlier_filtering_type: AUTO",
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"align_orientation_prior: vertical",
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"triangulation_type: ROBUST",
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"retriangulation_ratio: 2",
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]
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if args.camera_lens != 'auto':
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config.append("camera_projection_type: %s" % args.camera_lens.upper())
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if not has_gps:
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log.ODM_INFO("No GPS information, using BOW matching")
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use_bow = True
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feature_type = args.feature_type.upper()
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if use_bow:
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config.append("matcher_type: WORDS")
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# Cannot use SIFT with BOW
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if feature_type == "SIFT":
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log.ODM_WARNING("Using BOW matching, will use HAHOG feature type, not SIFT")
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feature_type = "HAHOG"
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# GPU acceleration?
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if has_gpus() and feature_type == "SIFT":
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log.ODM_INFO("Using GPU for extracting SIFT features")
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log.ODM_INFO("--min-num-features will be ignored")
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feature_type = "SIFT_GPU"
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config.append("feature_type: %s" % feature_type)
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if has_alt:
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log.ODM_INFO("Altitude data detected, enabling it for GPS alignment")
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config.append("use_altitude_tag: yes")
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gcp_path = reconstruction.gcp.gcp_path
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if has_alt or gcp_path:
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config.append("align_method: auto")
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else:
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config.append("align_method: orientation_prior")
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if args.use_hybrid_bundle_adjustment:
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log.ODM_INFO("Enabling hybrid bundle adjustment")
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config.append("bundle_interval: 100") # Bundle after adding 'bundle_interval' cameras
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config.append("bundle_new_points_ratio: 1.2") # Bundle when (new points) / (bundled points) > bundle_new_points_ratio
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config.append("local_bundle_radius: 1") # Max image graph distance for images to be included in local bundle adjustment
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else:
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config.append("local_bundle_radius: 0")
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if gcp_path:
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config.append("bundle_use_gcp: yes")
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if not args.force_gps:
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config.append("bundle_use_gps: no")
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io.copy(gcp_path, self.path("gcp_list.txt"))
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config = config + append_config
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# write config file
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log.ODM_INFO(config)
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config_filename = self.get_config_file_path()
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with open(config_filename, 'w') as fout:
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fout.write("\n".join(config))
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else:
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log.ODM_WARNING("%s already exists, not rerunning OpenSfM setup" % list_path)
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def get_config_file_path(self):
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return os.path.join(self.opensfm_project_path, 'config.yaml')
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def reconstructed(self):
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if not io.file_exists(self.path("reconstruction.json")):
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return False
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with open(self.path("reconstruction.json"), 'r') as f:
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return f.readline().strip() != "[]"
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def extract_metadata(self, rerun=False):
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metadata_dir = self.path("exif")
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if not io.dir_exists(metadata_dir) or rerun:
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self.run('extract_metadata')
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def is_feature_matching_done(self):
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features_dir = self.path("features")
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matches_dir = self.path("matches")
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return io.dir_exists(features_dir) and io.dir_exists(matches_dir)
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def feature_matching(self, rerun=False):
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features_dir = self.path("features")
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matches_dir = self.path("matches")
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if not io.dir_exists(features_dir) or rerun:
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self.run('detect_features')
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else:
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log.ODM_WARNING('Detect features already done: %s exists' % features_dir)
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if not io.dir_exists(matches_dir) or rerun:
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self.run('match_features')
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else:
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log.ODM_WARNING('Match features already done: %s exists' % matches_dir)
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def align_reconstructions(self, rerun):
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alignment_file = self.path('alignment_done.txt')
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if not io.file_exists(alignment_file) or rerun:
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log.ODM_INFO("Aligning submodels...")
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meta_data = metadataset.MetaDataSet(self.opensfm_project_path)
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reconstruction_shots = tools.load_reconstruction_shots(meta_data)
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transformations = tools.align_reconstructions(reconstruction_shots,
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tools.partial_reconstruction_name,
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False)
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tools.apply_transformations(transformations)
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self.touch(alignment_file)
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else:
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log.ODM_WARNING('Found a alignment done progress file in: %s' % alignment_file)
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def touch(self, file):
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with open(file, 'w') as fout:
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fout.write("Done!\n")
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def path(self, *paths):
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return os.path.join(self.opensfm_project_path, *paths)
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def extract_cameras(self, output, rerun=False):
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if not os.path.exists(output) or rerun:
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try:
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reconstruction_file = self.path("reconstruction.json")
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with open(output, 'w') as fout:
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fout.write(json.dumps(camera.get_cameras_from_opensfm(reconstruction_file), indent=4))
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except Exception as e:
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log.ODM_WARNING("Cannot export cameras to %s. %s." % (output, str(e)))
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else:
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log.ODM_INFO("Already extracted cameras")
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def convert_and_undistort(self, rerun=False, imageFilter=None, image_list=None, runId="nominal"):
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log.ODM_INFO("Undistorting %s ..." % self.opensfm_project_path)
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done_flag_file = self.path("undistorted", "%s_done.txt" % runId)
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if not io.file_exists(done_flag_file) or rerun:
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ds = DataSet(self.opensfm_project_path)
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if image_list is not None:
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ds._set_image_list(image_list)
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undistort.run_dataset(ds, "reconstruction.json",
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0, None, "undistorted", imageFilter)
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self.touch(done_flag_file)
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else:
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log.ODM_WARNING("Already undistorted (%s)" % runId)
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def restore_reconstruction_backup(self):
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if os.path.exists(self.recon_backup_file()):
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# This time export the actual reconstruction.json
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# (containing only the primary band)
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if os.path.exists(self.recon_file()):
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os.remove(self.recon_file())
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os.rename(self.recon_backup_file(), self.recon_file())
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log.ODM_INFO("Restored reconstruction.json")
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def backup_reconstruction(self):
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if os.path.exists(self.recon_backup_file()):
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os.remove(self.recon_backup_file())
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log.ODM_INFO("Backing up reconstruction")
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shutil.copyfile(self.recon_file(), self.recon_backup_file())
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def recon_backup_file(self):
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return self.path("reconstruction.backup.json")
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def recon_file(self):
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return self.path("reconstruction.json")
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def add_shots_to_reconstruction(self, p2s):
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with open(self.recon_file()) as f:
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reconstruction = json.loads(f.read())
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# Augment reconstruction.json
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for recon in reconstruction:
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shots = recon['shots']
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sids = list(shots)
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for shot_id in sids:
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secondary_photos = p2s.get(shot_id)
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if secondary_photos is None:
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log.ODM_WARNING("Cannot find secondary photos for %s" % shot_id)
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continue
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for p in secondary_photos:
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shots[p.filename] = shots[shot_id]
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with open(self.recon_file(), 'w') as f:
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f.write(json.dumps(reconstruction))
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def update_config(self, cfg_dict):
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cfg_file = self.get_config_file_path()
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log.ODM_INFO("Updating %s" % cfg_file)
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if os.path.exists(cfg_file):
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try:
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with open(cfg_file) as fin:
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cfg = yaml.safe_load(fin)
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for k, v in cfg_dict.items():
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cfg[k] = v
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log.ODM_INFO("%s: %s" % (k, v))
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with open(cfg_file, 'w') as fout:
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fout.write(yaml.dump(cfg, default_flow_style=False))
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except Exception as e:
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log.ODM_WARNING("Cannot update configuration file %s: %s" % (cfg_file, str(e)))
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else:
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log.ODM_WARNING("Tried to update configuration, but %s does not exist." % cfg_file)
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def export_stats(self, rerun=False):
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log.ODM_INFO("Export reconstruction stats")
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stats_path = self.path("stats", "stats.json")
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if not os.path.exists(stats_path) or rerun:
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self.run("compute_statistics --diagram_max_points 100000")
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else:
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log.ODM_WARNING("Found existing reconstruction stats %s" % stats_path)
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def export_report(self, report_path, odm_stats, rerun=False):
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log.ODM_INFO("Exporting report to %s" % report_path)
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osfm_report_path = self.path("stats", "report.pdf")
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if not os.path.exists(report_path) or rerun:
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data = DataSet(self.opensfm_project_path)
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pdf_report = report.Report(data, odm_stats)
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pdf_report.generate_report()
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pdf_report.save_report("report.pdf")
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if os.path.exists(osfm_report_path):
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shutil.move(osfm_report_path, report_path)
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else:
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log.ODM_WARNING("Report could not be generated")
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else:
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log.ODM_WARNING("Report %s already exported" % report_path)
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def name(self):
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return os.path.basename(os.path.abspath(self.path("..")))
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def get_submodel_argv(args, submodels_path = None, submodel_name = None):
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"""
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Gets argv for a submodel starting from the args passed to the application startup.
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Additionally, if project_name, submodels_path and submodel_name are passed, the function
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handles the <project name> value and --project-path detection / override.
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When all arguments are set to None, --project-path and project name are always removed.
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:return the same as argv, but removing references to --split,
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setting/replacing --project-path and name
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removing --rerun-from, --rerun, --rerun-all, --sm-cluster
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removing --pc-las, --pc-csv, --pc-ept, --tiles flags (processing these is wasteful)
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adding --orthophoto-cutline
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adding --dem-euclidean-map
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adding --skip-3dmodel (split-merge does not support 3D model merging)
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tweaking --crop if necessary (DEM merging makes assumption about the area of DEMs and their euclidean maps that require cropping. If cropping is skipped, this leads to errors.)
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removing --gcp (the GCP path if specified is always "gcp_list.txt")
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reading the contents of --cameras
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"""
|
|
assure_always = ['orthophoto_cutline', 'dem_euclidean_map', 'skip_3dmodel', 'skip_report']
|
|
remove_always = ['split', 'split_overlap', 'rerun_from', 'rerun', 'gcp', 'end_with', 'sm_cluster', 'rerun_all', 'pc_csv', 'pc_las', 'pc_ept', 'tiles']
|
|
read_json_always = ['cameras']
|
|
|
|
argv = sys.argv
|
|
result = [argv[0]] # Startup script (/path/to/run.py)
|
|
|
|
args_dict = vars(args).copy()
|
|
set_keys = [k[:-len("_is_set")] for k in args_dict.keys() if k.endswith("_is_set")]
|
|
|
|
# Handle project name and project path (special case)
|
|
if "name" in set_keys:
|
|
del args_dict["name"]
|
|
set_keys.remove("name")
|
|
|
|
if "project_path" in set_keys:
|
|
del args_dict["project_path"]
|
|
set_keys.remove("project_path")
|
|
|
|
# Remove parameters
|
|
set_keys = [k for k in set_keys if k not in remove_always]
|
|
|
|
# Assure parameters
|
|
for k in assure_always:
|
|
if not k in set_keys:
|
|
set_keys.append(k)
|
|
args_dict[k] = True
|
|
|
|
# Read JSON always
|
|
for k in read_json_always:
|
|
if k in set_keys:
|
|
try:
|
|
if isinstance(args_dict[k], str):
|
|
args_dict[k] = io.path_or_json_string_to_dict(args_dict[k])
|
|
if isinstance(args_dict[k], dict):
|
|
args_dict[k] = json.dumps(args_dict[k])
|
|
except ValueError as e:
|
|
log.ODM_WARNING("Cannot parse/read JSON: {}".format(str(e)))
|
|
|
|
# Handle crop (cannot be zero for split/merge)
|
|
if "crop" in set_keys:
|
|
crop_value = float(args_dict["crop"])
|
|
if crop_value == 0:
|
|
crop_value = 0.015625
|
|
args_dict["crop"] = crop_value
|
|
|
|
# Populate result
|
|
for k in set_keys:
|
|
result.append("--%s" % k.replace("_", "-"))
|
|
|
|
# No second value for booleans
|
|
if isinstance(args_dict[k], bool) and args_dict[k] == True:
|
|
continue
|
|
|
|
result.append(str(args_dict[k]))
|
|
|
|
if submodels_path:
|
|
result.append("--project-path")
|
|
result.append(submodels_path)
|
|
|
|
if submodel_name:
|
|
result.append(submodel_name)
|
|
|
|
return result
|
|
|
|
def get_submodel_args_dict(args):
|
|
submodel_argv = get_submodel_argv(args)
|
|
result = {}
|
|
|
|
i = 0
|
|
while i < len(submodel_argv):
|
|
arg = submodel_argv[i]
|
|
next_arg = None if i == len(submodel_argv) - 1 else submodel_argv[i + 1]
|
|
|
|
if next_arg and arg.startswith("--"):
|
|
if next_arg.startswith("--"):
|
|
result[arg[2:]] = True
|
|
else:
|
|
result[arg[2:]] = next_arg
|
|
i += 1
|
|
elif arg.startswith("--"):
|
|
result[arg[2:]] = True
|
|
i += 1
|
|
|
|
return result
|
|
|
|
|
|
def get_submodel_paths(submodels_path, *paths):
|
|
"""
|
|
:return Existing paths for all submodels
|
|
"""
|
|
result = []
|
|
if not os.path.exists(submodels_path):
|
|
return result
|
|
|
|
for f in os.listdir(submodels_path):
|
|
if f.startswith('submodel'):
|
|
p = os.path.join(submodels_path, f, *paths)
|
|
if os.path.exists(p):
|
|
result.append(p)
|
|
else:
|
|
log.ODM_WARNING("Missing %s from submodel %s" % (p, f))
|
|
|
|
return result
|
|
|
|
def get_all_submodel_paths(submodels_path, *all_paths):
|
|
"""
|
|
:return Existing, multiple paths for all submodels as a nested list (all or nothing for each submodel)
|
|
if a single file is missing from the submodule, no files are returned for that submodel.
|
|
|
|
(i.e. get_multi_submodel_paths("path/", "odm_orthophoto.tif", "dem.tif")) -->
|
|
[["path/submodel_0000/odm_orthophoto.tif", "path/submodel_0000/dem.tif"],
|
|
["path/submodel_0001/odm_orthophoto.tif", "path/submodel_0001/dem.tif"]]
|
|
"""
|
|
result = []
|
|
if not os.path.exists(submodels_path):
|
|
return result
|
|
|
|
for f in os.listdir(submodels_path):
|
|
if f.startswith('submodel'):
|
|
all_found = True
|
|
|
|
for ap in all_paths:
|
|
p = os.path.join(submodels_path, f, ap)
|
|
if not os.path.exists(p):
|
|
log.ODM_WARNING("Missing %s from submodel %s" % (p, f))
|
|
all_found = False
|
|
|
|
if all_found:
|
|
result.append([os.path.join(submodels_path, f, ap) for ap in all_paths])
|
|
|
|
return result
|