kopia lustrzana https://github.com/OpenDroneMap/ODM
80 wiersze
3.4 KiB
Python
80 wiersze
3.4 KiB
Python
import sys
|
|
import os
|
|
|
|
from opendm import log
|
|
from opendm import io
|
|
from opendm import system
|
|
from opendm import context
|
|
from opendm import gsd
|
|
from opendm import point_cloud
|
|
from opendm import types
|
|
from opendm.osfm import OSFMContext
|
|
|
|
class ODMOpenSfMStage(types.ODM_Stage):
|
|
def process(self, args, outputs):
|
|
tree = outputs['tree']
|
|
reconstruction = outputs['reconstruction']
|
|
photos = reconstruction.photos
|
|
|
|
if not photos:
|
|
log.ODM_ERROR('Not enough photos in photos array to start OpenSfM')
|
|
exit(1)
|
|
|
|
octx = OSFMContext(tree.opensfm)
|
|
octx.setup(args, tree.dataset_raw, photos, gcp_path=tree.odm_georeferencing_gcp, rerun=self.rerun())
|
|
octx.feature_matching(self.rerun())
|
|
octx.reconstruct(self.rerun())
|
|
|
|
if args.fast_orthophoto:
|
|
output_file = octx.path('reconstruction.ply')
|
|
elif args.use_opensfm_dense:
|
|
output_file = tree.opensfm_model
|
|
else:
|
|
output_file = tree.opensfm_reconstruction
|
|
|
|
# Always export VisualSFM's reconstruction and undistort images
|
|
# as we'll use these for texturing (after GSD estimation and resizing)
|
|
if not args.ignore_gsd:
|
|
image_scale = gsd.image_scale_factor(args.orthophoto_resolution, tree.opensfm_reconstruction)
|
|
else:
|
|
image_scale = 1.0
|
|
|
|
if not io.file_exists(tree.opensfm_reconstruction_nvm) or self.rerun():
|
|
octx.run('export_visualsfm --image_extension png --scale_focal %s' % image_scale)
|
|
else:
|
|
log.ODM_WARNING('Found a valid OpenSfM NVM reconstruction file in: %s' %
|
|
tree.opensfm_reconstruction_nvm)
|
|
|
|
# These will be used for texturing
|
|
undistorted_images_path = octx.path("undistorted")
|
|
|
|
if not io.dir_exists(undistorted_images_path) or self.rerun():
|
|
octx.run('undistort --image_format png --image_scale %s' % image_scale)
|
|
else:
|
|
log.ODM_WARNING("Found an undistorted directory in %s" % undistorted_images_path)
|
|
|
|
# Skip dense reconstruction if necessary and export
|
|
# sparse reconstruction instead
|
|
if args.fast_orthophoto:
|
|
if not io.file_exists(output_file) or self.rerun():
|
|
octx.run('export_ply --no-cameras' % image_scale)
|
|
else:
|
|
log.ODM_WARNING("Found a valid PLY reconstruction in %s" % output_file)
|
|
|
|
elif args.use_opensfm_dense:
|
|
# Undistort images at full scale in JPG
|
|
# (TODO: we could compare the size of the PNGs if they are < than depthmap_resolution
|
|
# and use those instead of re-exporting full resolution JPGs)
|
|
if not io.file_exists(output_file) or self.rerun():
|
|
octx.run('undistort')
|
|
octx.run('compute_depthmaps')
|
|
else:
|
|
log.ODM_WARNING("Found a valid dense reconstruction in %s" % output_file)
|
|
|
|
# check if reconstruction was exported to bundler before
|
|
octx.export_bundler(tree.opensfm_bundle_list, self.rerun())
|
|
|
|
if reconstruction.georef and (not io.file_exists(tree.opensfm_transformation) or self.rerun()):
|
|
octx.run('export_geocoords --transformation --proj \'%s\'' % reconstruction.georef.projection.srs)
|
|
else:
|
|
log.ODM_WARNING("Will skip exporting %s" % tree.opensfm_transformation) |