kopia lustrzana https://github.com/OpenDroneMap/ODM
229 wiersze
8.6 KiB
Python
229 wiersze
8.6 KiB
Python
"""
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OpenSfM related utils
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"""
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import os, shutil, sys
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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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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 export_bundler(self, destination_bundle_file, rerun=False):
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if not io.file_exists(destination_bundle_file) or rerun:
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# convert back to bundler's format
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system.run('%s/bin/export_bundler %s' %
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(context.opensfm_path, self.opensfm_project_path))
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else:
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log.ODM_WARNING('Found a valid Bundler file in: %s' % destination_bundle_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 io.file_exists(reconstruction_file):
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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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raise Exception("Reconstruction could not be generated")
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def setup(self, args, images_path, photos, gcp_path=None, 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 = io.join_paths(self.opensfm_project_path, 'image_list.txt')
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if not io.file_exists(list_path) or rerun:
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# create file list
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has_alt = True
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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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fout.write('%s\n' % io.join_paths(images_path, photo.filename))
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# TODO: does this need to be a relative path?
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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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"feature_process_size: %s" % args.resize_to,
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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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"depthmap_method: %s" % args.opensfm_depthmap_method,
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"depthmap_resolution: %s" % args.depthmap_resolution,
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"depthmap_min_patch_sd: %s" % args.opensfm_depthmap_min_patch_sd,
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"depthmap_min_consistent_views: %s" % args.opensfm_depthmap_min_consistent_views,
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"optimize_camera_parameters: %s" % ('no' if args.use_fixed_camera_params else 'yes')
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]
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if has_alt:
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log.ODM_DEBUG("Altitude data detected, enabling it for GPS alignment")
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config.append("use_altitude_tag: yes")
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config.append("align_method: naive")
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else:
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config.append("align_method: orientation_prior")
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config.append("align_orientation_prior: vertical")
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if args.use_hybrid_bundle_adjustment:
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log.ODM_DEBUG("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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if args.matcher_distance > 0:
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config.append("matching_gps_distance: %s" % args.matcher_distance)
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if gcp_path:
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config.append("bundle_use_gcp: yes")
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io.copy(gcp_path, self.opensfm_project_path)
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config = config + append_config
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# write config file
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log.ODM_DEBUG(config)
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config_filename = io.join_paths(self.opensfm_project_path, 'config.yaml')
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with open(config_filename, 'w') as fout:
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fout.write("\n".join(config))
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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 io.file_exists(image_groups_file):
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log.ODM_DEBUG("Copied image_groups.txt to OpenSfM directory")
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io.copy(image_groups_file, os.path.join(self.opensfm_project_path, "image_groups.txt"))
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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 feature_matching(self, rerun=False):
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if not io.file_exists(self.feature_matching_done_file()) or rerun:
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# TODO: put extract metadata into its own function
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self.run('extract_metadata')
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# TODO: distributed workflow should do these two steps independently
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self.run('detect_features')
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self.run('match_features')
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self.mark_feature_matching_done()
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else:
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log.ODM_WARNING('Found a feature matching done progress file in: %s' % self.feature_matching_done_file())
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def feature_matching_done_file(self):
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return io.join_paths(self.opensfm_project_path, 'matching_done.txt')
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def mark_feature_matching_done(self):
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with open(self.feature_matching_done_file(), 'w') as fout:
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fout.write("Matching 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 get_submodel_argv(args, submodels_path, submodel_name):
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"""
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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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setting/replacing --crop to 0.01 (always crop on submodels)
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removing --rerun-from, --rerun, --rerun-all
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"""
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argv = sys.argv
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result = [argv[0]]
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i = 1
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project_path_found = False
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project_name_added = False
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crop_found = False
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# TODO: what about GCP paths?
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while i < len(argv):
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arg = argv[i]
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# Last?
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if i == len(argv) - 1:
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# Project name?
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if arg == args.name:
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result.append(submodel_name)
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project_name_added = True
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else:
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result.append(arg)
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i += 1
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elif arg == '--project-path':
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result.append(arg)
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result.append(submodels_path)
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project_path_found = True
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i += 2
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elif arg == '--crop':
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result.append(arg)
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result.append("0.01")
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crop_found = True
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i += 2
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elif arg == '--split':
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i += 2
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elif arg == '--rerun-from':
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i += 2
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elif arg == '--rerun':
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i += 2
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elif arg == '--rerun-all':
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i += 1
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else:
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result.append(arg)
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i += 1
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if not project_path_found:
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result.append('--project-path')
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result.append(submodel_project_path)
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if not crop_found:
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result.append('--crop')
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result.append('0.01')
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if not project_name_added:
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result.append(submodel_name)
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return result
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def get_submodel_paths(submodels_path, *paths):
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"""
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:return Existing paths for all submodels
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"""
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result = []
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for f in os.listdir(submodels_path):
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if f.startswith('submodel'):
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p = os.path.join(submodels_path, f, *paths)
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if os.path.exists(p):
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result.append(p)
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else:
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log.ODM_WARNING("Missing %s from submodel %s" % (p, f))
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return result |