kopia lustrzana https://github.com/OpenDroneMap/ODM
238 wiersze
11 KiB
Python
238 wiersze
11 KiB
Python
import os
|
|
import shutil
|
|
from opendm import log
|
|
from opendm.osfm import OSFMContext, get_submodel_argv, get_submodel_paths, get_all_submodel_paths
|
|
from opendm import types
|
|
from opendm import io
|
|
from opendm import system
|
|
from opendm import orthophoto
|
|
from opendm.dem import pdal
|
|
from opensfm.large import metadataset
|
|
from opendm.cropper import Cropper
|
|
from opendm.concurrency import get_max_memory
|
|
from pipes import quote
|
|
|
|
class ODMSplitStage(types.ODM_Stage):
|
|
def process(self, args, outputs):
|
|
tree = outputs['tree']
|
|
reconstruction = outputs['reconstruction']
|
|
photos = reconstruction.photos
|
|
|
|
outputs['large'] = len(photos) > args.split
|
|
|
|
if outputs['large']:
|
|
octx = OSFMContext(tree.opensfm)
|
|
split_done_file = octx.path("split_done.txt")
|
|
|
|
if not io.file_exists(split_done_file) or self.rerun():
|
|
|
|
log.ODM_INFO("Large dataset detected (%s photos) and split set at %s. Preparing split merge." % (len(photos), args.split))
|
|
config = [
|
|
"submodels_relpath: ../submodels/opensfm",
|
|
"submodel_relpath_template: ../submodels/submodel_%04d/opensfm",
|
|
"submodel_images_relpath_template: ../submodels/submodel_%04d/images",
|
|
"submodel_size: %s" % args.split,
|
|
"submodel_overlap: %s" % args.split_overlap,
|
|
]
|
|
|
|
octx.setup(args, tree.dataset_raw, photos, gcp_path=tree.odm_georeferencing_gcp, append_config=config, rerun=self.rerun())
|
|
|
|
octx.feature_matching(self.rerun())
|
|
|
|
# Create submodels
|
|
if not io.dir_exists(tree.submodels_path) or self.rerun():
|
|
if io.dir_exists(tree.submodels_path):
|
|
log.ODM_WARNING("Removing existing submodels directory: %s" % tree.submodels_path)
|
|
shutil.rmtree(tree.submodels_path)
|
|
|
|
octx.run("create_submodels")
|
|
else:
|
|
log.ODM_WARNING("Submodels directory already exist at: %s" % tree.submodels_path)
|
|
|
|
# TODO: on a network workflow we probably stop here
|
|
# and let NodeODM take over
|
|
# exit(0)
|
|
|
|
# Find paths of all submodels
|
|
mds = metadataset.MetaDataSet(tree.opensfm)
|
|
submodel_paths = [os.path.abspath(p) for p in mds.get_submodel_paths()]
|
|
|
|
# Reconstruct each submodel
|
|
log.ODM_INFO("Dataset has been split into %s submodels. Reconstructing each submodel..." % len(submodel_paths))
|
|
|
|
for sp in submodel_paths:
|
|
log.ODM_INFO("Reconstructing %s" % sp)
|
|
OSFMContext(sp).reconstruct(self.rerun())
|
|
|
|
# Align
|
|
alignment_file = octx.path('alignment_done.txt')
|
|
if not io.file_exists(alignment_file) or self.rerun():
|
|
log.ODM_INFO("Aligning submodels...")
|
|
octx.run('align_submodels')
|
|
|
|
with open(alignment_file, 'w') as fout:
|
|
fout.write("Alignment done!\n")
|
|
else:
|
|
log.ODM_WARNING('Found a alignment matching done progress file in: %s' % alignment_file)
|
|
|
|
# Dense reconstruction for each submodel
|
|
for sp in submodel_paths:
|
|
|
|
# TODO: network workflow
|
|
|
|
# We have already done matching
|
|
sp_octx = OSFMContext(sp)
|
|
sp_octx.mark_feature_matching_done()
|
|
|
|
submodel_name = os.path.basename(os.path.abspath(sp_octx.path("..")))
|
|
|
|
# Aligned reconstruction is in reconstruction.aligned.json
|
|
# We need to rename it to reconstruction.json
|
|
|
|
aligned_recon = sp_octx.path('reconstruction.aligned.json')
|
|
main_recon = sp_octx.path('reconstruction.json')
|
|
|
|
if not io.file_exists(aligned_recon):
|
|
log.ODM_WARNING("Submodel %s does not have an aligned reconstruction (%s). "
|
|
"This could mean that the submodel could not be reconstructed "
|
|
" (are there enough features to reconstruct it?). Skipping." % (submodel_name, aligned_recon))
|
|
continue
|
|
|
|
if io.file_exists(main_recon):
|
|
os.remove(main_recon)
|
|
|
|
shutil.move(aligned_recon, main_recon)
|
|
log.ODM_DEBUG("%s is now %s" % (aligned_recon, main_recon))
|
|
|
|
log.ODM_INFO("========================")
|
|
log.ODM_INFO("Processing %s" % submodel_name)
|
|
log.ODM_INFO("========================")
|
|
|
|
argv = get_submodel_argv(args, tree.submodels_path, submodel_name)
|
|
|
|
# Re-run the ODM toolchain on the submodel
|
|
system.run(" ".join(map(quote, argv)), env_vars=os.environ.copy())
|
|
|
|
with open(split_done_file, 'w') as fout:
|
|
fout.write("Split done!\n")
|
|
else:
|
|
log.ODM_WARNING('Found a split done file in: %s' % split_done_file)
|
|
else:
|
|
log.ODM_INFO("Normal dataset, will process all at once.")
|
|
|
|
|
|
class ODMMergeStage(types.ODM_Stage):
|
|
def process(self, args, outputs):
|
|
tree = outputs['tree']
|
|
reconstruction = outputs['reconstruction']
|
|
|
|
if outputs['large']:
|
|
# Merge point clouds
|
|
if not io.file_exists(tree.odm_georeferencing_model_laz) or self.rerun():
|
|
pass
|
|
# all_point_clouds = get_submodel_paths(tree.submodels_path, "odm_georeferencing", "odm_georeferenced_model.laz")
|
|
# pdal.merge_point_clouds(all_point_clouds, tree.odm_georeferencing_model_laz, args.verbose)
|
|
else:
|
|
log.ODM_WARNING("Found merged point cloud in %s" % tree.odm_georeferencing_model_laz)
|
|
|
|
# Merge crop bounds
|
|
merged_bounds_file = os.path.join(tree.odm_georeferencing, 'odm_georeferenced_model.bounds.gpkg')
|
|
if not io.file_exists(merged_bounds_file) or self.rerun():
|
|
all_bounds = get_submodel_paths(tree.submodels_path, 'odm_georeferencing', 'odm_georeferenced_model.bounds.gpkg')
|
|
log.ODM_DEBUG("Merging all crop bounds: %s" % all_bounds)
|
|
if len(all_bounds) > 0:
|
|
# Calculate a new crop area
|
|
# based on the convex hull of all crop areas of all submodels
|
|
# (without a buffer, otherwise we are double-cropping)
|
|
Cropper.merge_bounds(all_bounds, merged_bounds_file, 0)
|
|
else:
|
|
log.ODM_WARNING("No bounds found for any submodel.")
|
|
|
|
# Merge orthophotos
|
|
if not io.file_exists(tree.odm_orthophoto_tif) or self.rerun():
|
|
all_orthos_and_cutlines = get_all_submodel_paths(tree.submodels_path,
|
|
os.path.join("odm_orthophoto", "odm_orthophoto.tif"),
|
|
os.path.join("odm_orthophoto", "cutline.gpkg"),
|
|
)
|
|
|
|
if len(all_orthos_and_cutlines) > 1:
|
|
log.ODM_DEBUG("Found %s submodels with valid orthophotos and cutlines" % len(all_orthos_and_cutlines))
|
|
|
|
merged_geotiff = os.path.join(tree.odm_orthophoto, "odm_orthophoto.merged.tif")
|
|
|
|
kwargs = {
|
|
'orthophoto_merged': merged_geotiff,
|
|
'input_files': ' '.join(map(lambda i: quote(i[0]), all_orthos_and_cutlines)),
|
|
}
|
|
|
|
# use bounds as cutlines (blending)
|
|
if io.file_exists(merged_geotiff):
|
|
os.remove(merged_geotiff)
|
|
|
|
system.run('gdal_merge.py -o {orthophoto_merged} '
|
|
'-createonly '
|
|
'-co "BIGTIFF=YES" '
|
|
'-co "BLOCKXSIZE=512" '
|
|
'-co "BLOCKYSIZE=512" '
|
|
'{input_files} '.format(**kwargs)
|
|
)
|
|
|
|
for ortho_cutline in all_orthos_and_cutlines:
|
|
kwargs['input_file'], kwargs['cutline'] = ortho_cutline
|
|
|
|
system.run('gdalwarp -cutline {cutline} '
|
|
#'-cblend 2 '
|
|
'-r lanczos -multi '
|
|
' {input_file} {orthophoto_merged}'.format(**kwargs)
|
|
)
|
|
|
|
# Apply orthophoto settings (compression, tiling, etc.)
|
|
orthophoto_vars = orthophoto.get_orthophoto_vars(args)
|
|
|
|
if io.file_exists(tree.odm_orthophoto_tif):
|
|
os.remove(tree.odm_orthophoto_tif)
|
|
|
|
kwargs = {
|
|
'vars': ' '.join(['-co %s=%s' % (k, orthophoto_vars[k]) for k in orthophoto_vars]),
|
|
'max_memory': get_max_memory(),
|
|
'merged': merged_geotiff,
|
|
'log': tree.odm_orthophoto_tif_log,
|
|
'orthophoto': tree.odm_orthophoto_tif,
|
|
}
|
|
|
|
system.run('gdal_translate '
|
|
'{vars} '
|
|
'--config GDAL_CACHEMAX {max_memory}% '
|
|
'{merged} {orthophoto} > {log}'.format(**kwargs))
|
|
|
|
os.remove(merged_geotiff)
|
|
|
|
# Crop
|
|
if args.crop > 0:
|
|
Cropper.crop(merged_bounds_file, tree.odm_orthophoto_tif, orthophoto_vars)
|
|
|
|
# Overviews
|
|
if args.build_overviews:
|
|
orthophoto.build_overviews(tree.odm_orthophoto_tif)
|
|
|
|
elif len(all_orthos_and_cutlines) == 1:
|
|
# Simply copy
|
|
log.ODM_WARNING("A single orthophoto/cutline pair was found between all submodels.")
|
|
shutil.copyfile(all_orthos_and_cutlines[0][0], tree.odm_orthophoto_tif)
|
|
else:
|
|
log.ODM_WARNING("No orthophoto/cutline pairs were found in any of the submodels. No orthophoto will be generated.")
|
|
else:
|
|
log.ODM_WARNING("Found merged orthophoto in %s" % tree.odm_orthophoto_tif)
|
|
|
|
# Merge DEM
|
|
|
|
# TODO: crop DEM if necessary
|
|
|
|
|
|
# Stop the pipeline short! We're done.
|
|
self.next_stage = None
|
|
else:
|
|
log.ODM_INFO("Normal dataset, nothing to merge.")
|
|
|
|
|
|
|