kopia lustrzana https://github.com/OpenDroneMap/ODM
140 wiersze
8.4 KiB
Python
140 wiersze
8.4 KiB
Python
import shutil, os, glob, math
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from opendm import log
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from opendm import io
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from opendm import system
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from opendm import context
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from opendm import point_cloud
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from opendm import types
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from opendm.osfm import OSFMContext
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class ODMMveStage(types.ODM_Stage):
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def process(self, args, outputs):
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# get inputs
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tree = outputs['tree']
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reconstruction = outputs['reconstruction']
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photos = reconstruction.photos
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if not photos:
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log.ODM_ERROR('Not enough photos in photos array to start MVE')
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exit(1)
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# check if reconstruction was done before
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if not io.file_exists(tree.mve_model) or self.rerun():
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# cleanup if a rerun
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if io.dir_exists(tree.mve_path) and self.rerun():
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shutil.rmtree(tree.mve_path)
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# make bundle directory
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if not io.file_exists(tree.mve_bundle):
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system.mkdir_p(tree.mve_path)
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system.mkdir_p(io.join_paths(tree.mve_path, 'bundle'))
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octx = OSFMContext(tree.opensfm)
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octx.save_absolute_image_list_to(tree.mve_image_list)
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io.copy(tree.opensfm_bundle, tree.mve_bundle)
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# mve makescene wants the output directory
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# to not exists before executing it (otherwise it
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# will prompt the user for confirmation)
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if io.dir_exists(tree.mve):
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shutil.rmtree(tree.mve)
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# run mve makescene
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if not io.dir_exists(tree.mve_views):
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system.run('%s %s %s' % (context.makescene_path, tree.mve_path, tree.mve), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
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# Compute mve output scale based on depthmap_resolution
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max_width = 0
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max_height = 0
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for photo in photos:
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max_width = max(photo.width, max_width)
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max_height = max(photo.height, max_height)
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max_pixels = args.depthmap_resolution * args.depthmap_resolution
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if max_width * max_height <= max_pixels:
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mve_output_scale = 0
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else:
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ratio = float(max_width * max_height) / float(max_pixels)
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mve_output_scale = int(math.ceil(math.log(ratio) / math.log(4.0)))
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dmrecon_config = [
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"-s%s" % mve_output_scale,
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"--progress=silent",
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"--local-neighbors=2",
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]
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# Run MVE's dmrecon
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log.ODM_INFO(' ')
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log.ODM_INFO(' ,*/** ')
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log.ODM_INFO(' ,*@%*/@%* ')
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log.ODM_INFO(' ,/@%******@&*. ')
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log.ODM_INFO(' ,*@&*********/@&* ')
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log.ODM_INFO(' ,*@&**************@&* ')
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log.ODM_INFO(' ,/@&******************@&*. ')
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log.ODM_INFO(' ,*@&*********************/@&* ')
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log.ODM_INFO(' ,*@&**************************@&*. ')
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log.ODM_INFO(' ,/@&******************************&&*, ')
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log.ODM_INFO(' ,*&&**********************************@&*. ')
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log.ODM_INFO(' ,*@&**************************************@&*. ')
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log.ODM_INFO(' ,*@&***************#@@@@@@@@@%****************&&*, ')
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log.ODM_INFO(' .*&&***************&@@@@@@@@@@@@@@****************@@*. ')
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log.ODM_INFO(' .*@&***************&@@@@@@@@@@@@@@@@@%****(@@%********@@*. ')
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log.ODM_INFO(' .*@@***************%@@@@@@@@@@@@@@@@@@@@@#****&@@@@%******&@*, ')
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log.ODM_INFO(' .*&@****************@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@/*****@@*. ')
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log.ODM_INFO(' .*@@****************@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@%*************@@*. ')
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log.ODM_INFO(' .*@@****/***********@@@@@&**(@@@@@@@@@@@@@@@@@@@@@@@#*****************%@*, ')
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log.ODM_INFO(' */@*******@*******#@@@@%*******/@@@@@@@@@@@@@@@@@@@@********************/@(, ')
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log.ODM_INFO(' ,*@(********&@@@@@@#**************/@@@@@@@#**(@@&/**********************@&* ')
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log.ODM_INFO(' *#@/*******************************@@@@@***&@&**********************&@*, ')
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log.ODM_INFO(' *#@#******************************&@@@***@#*********************&@*, ')
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log.ODM_INFO(' */@#*****************************@@@************************@@*. ')
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log.ODM_INFO(' *#@/***************************/@@/*********************%@*, ')
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log.ODM_INFO(' *#@#**************************#@@%******************%@*, ')
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log.ODM_INFO(' */@#*************************(@@@@@@@&%/********&@*. ')
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log.ODM_INFO(' *(@(*********************************/%@@%**%@*, ')
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log.ODM_INFO(' *(@%************************************%@** ')
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log.ODM_INFO(' **@%********************************&@*, ')
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log.ODM_INFO(' *(@(****************************%@/* ')
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log.ODM_INFO(' ,(@%************************#@/* ')
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log.ODM_INFO(' ,*@%********************&@/, ')
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log.ODM_INFO(' */@#****************#@/* ')
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log.ODM_INFO(' ,/@&************#@/* ')
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log.ODM_INFO(' ,*@&********%@/, ')
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log.ODM_INFO(' */@#****(@/* ')
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log.ODM_INFO(' ,/@@@@(* ')
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log.ODM_INFO(' .**, ')
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log.ODM_INFO('')
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log.ODM_INFO("Running dense reconstruction. This might take a while. Please be patient, the process is not dead or hung.")
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log.ODM_INFO(" Process is running")
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# TODO: find out why MVE is crashing at random
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# https://gist.github.com/pierotofy/c49447e86a187e8ede50fb302cf5a47b
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# MVE *seems* to have a race condition, triggered randomly, regardless of dataset
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# size. Core dump stack trace points to patch_sampler.cc:109.
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# Hard to reproduce. Removing -03 optimizations from dmrecon
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# seems to reduce the chances of hitting the bug.
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# Temporary workaround is to retry the reconstruction until we get it right
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# (up to a certain number of retries).
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retry_count = 1
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while retry_count < 10:
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try:
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system.run('%s %s %s' % (context.dmrecon_path, ' '.join(dmrecon_config), tree.mve), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
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break
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except Exception as e:
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if str(e) == "Child returned 134" or str(e) == "Child returned 1":
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retry_count += 1
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log.ODM_WARNING("Caught error code, retrying attempt #%s" % retry_count)
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else:
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raise e
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scene2pset_config = [
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"-F%s" % mve_output_scale
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]
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# run scene2pset
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system.run('%s %s "%s" "%s"' % (context.scene2pset_path, ' '.join(scene2pset_config), tree.mve, tree.mve_model), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
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else:
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log.ODM_WARNING('Found a valid MVE reconstruction file in: %s' %
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tree.mve_model)
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