OpenDroneMap-ODM/run.py

986 wiersze
43 KiB
Python
Executable File

#!/usr/bin/python
import os
import sys
import multiprocessing
import json
import datetime
import re
import subprocess
import shutil
import shlex
# import collections # Never used
import fractions
import argparse
import errno
import knnMatch_exif
# the defs
CURRENT_DIR = os.getcwd()
BIN_PATH_ABS = os.path.abspath(os.path.dirname(os.path.abspath(__file__)))
PYOPENCV_PATH = os.path.join(BIN_PATH_ABS, 'lib/python2.7/dist-packages')
OPENSFM_PATH = os.path.join(BIN_PATH_ABS, "src/OpenSfM")
CORES = multiprocessing.cpu_count()
def get_ccd_widths():
"""Return the CCD Width of the camera listed in the JSON defs file."""
with open(BIN_PATH_ABS + '/ccd_defs.json') as jsonFile:
return json.load(jsonFile)
objects = []
ccdWidths = get_ccd_widths()
BIN_PATH = BIN_PATH_ABS + '/bin'
objectStats = {
'count': 0, 'good': 0, 'bad': 0, 'minWidth': 0, 'minHeight': 0,
'maxWidth': 0, 'maxHeight': 0
}
jobOptions = {'resizeTo': 0, 'srcDir': CURRENT_DIR, 'utmZone': -999,
'utmSouth': False, 'utmEastOffset': 0, 'utmNorthOffset': 0}
# parse arguments
processopts = ['resize', 'getKeypoints', 'match', 'bundler', 'cmvs', 'pmvs',
'odm_meshing', 'odm_texturing', 'odm_georeferencing',
'odm_orthophoto']
parser = argparse.ArgumentParser(description='OpenDroneMap')
parser.add_argument('--resize-to', # currently doesn't support 'orig'
metavar='<integer>',
default=2400,
type=int,
help='resizes images by the largest side')
parser.add_argument('--start-with', '-s',
metavar='<string>',
default='resize',
choices=processopts,
help=('Can be one of: ' + ' | '.join(processopts)))
parser.add_argument('--end-with', '-e',
metavar='<string>',
default='odm_orthophoto',
choices=processopts,
help=('Can be one of:' + ' | '.join(processopts)))
parser.add_argument('--run-only',
metavar='<string>',
choices=processopts,
help=('Can be one of:' + ' | '.join(processopts)))
parser.add_argument('--force-focal',
metavar='<positive float>',
type=float,
help=('Override the focal length information for the '
'images'))
parser.add_argument('--force-ccd',
metavar='<positive float>',
type=float,
help='Override the ccd width information for the images')
parser.add_argument('--matcher-threshold',
metavar='<percent>',
default=2.0,
type=float,
help=('Ignore matched keypoints if the two images share '
'less than <float> percent of keypoints'))
parser.add_argument('--matcher-ratio',
metavar='<float>',
default=0.6,
type=float,
help=('Ratio of the distance to the next best matched '
'keypoint'))
parser.add_argument('--matcher-preselect',
type=bool,
metavar='',
default=True,
help=('use GPS exif data, if available, to match each '
'image only with its k-nearest neighbors, or all '
'images within a certain distance threshold'))
parser.add_argument('--matcher-useKnn',
type=bool,
metavar='',
default=True,
help=('use GPS exif data, if available, to match each '
'image only with its k-nearest neighbors, or all '
'images within a certain distance threshold'))
parser.add_argument('--matcher-kDistance',
metavar='<integer>',
default=20,
type=int,
help='')
parser.add_argument('--cmvs-maxImages',
metavar='<integer>',
default=500,
type=int,
help='The maximum number of images per cluster')
parser.add_argument('--pmvs-level',
metavar='<positive integer>',
default=1,
type=int,
help=('The level in the image pyramid that is used '
'for the computation. see '
'http://www.di.ens.fr/pmvs/documentation.html for '
'more pmvs documentation'))
parser.add_argument('--pmvs-csize',
metavar='< positive integer>',
default=2,
type=int,
help='Cell size controls the density of reconstructions')
parser.add_argument('--pmvs-threshold',
metavar='<float: -1.0 <= x <= 1.0>',
default=0.7,
type=float,
help=('A patch reconstruction is accepted as a success '
'and kept, if its associcated photometric consistency '
'measure is above this threshold.'))
parser.add_argument('--pmvs-wsize',
metavar='<positive integer>',
default=7,
type=int,
help=('pmvs samples wsize x wsize pixel colors from '
'each image to compute photometric consistency '
'score. For example, when wsize=7, 7x7=49 pixel '
'colors are sampled in each image. Increasing the '
'value leads to more stable reconstructions, but '
'the program becomes slower.'))
parser.add_argument('--pmvs-minImageNum',
metavar='<positive integer>',
default=3,
type=int,
help=('Each 3D point must be visible in at least '
'minImageNum images for being reconstructed. 3 is '
'suggested in general.'))
parser.add_argument('--odm_meshing-maxVertexCount',
metavar='<positive integer>',
default=100000,
type=int,
help='The maximum vertex count of the output mesh')
parser.add_argument('--odm_meshing-octreeDepth',
metavar='<positive integer>',
default=9,
type=int,
help=('Oct-tree depth used in the mesh reconstruction, '
'increase to get more vertices, recommended '
'values are 8-12'))
parser.add_argument('--odm_meshing-samplesPerNode',
metavar='<float >= 1.0>',
default=1,
type=float,
help=('Number of points per octree node, recommended '
'value: 1.0'))
parser.add_argument('--odm_meshing-solverDivide',
metavar='<positive integer>',
default=9,
type=int,
help=('Oct-tree depth at which the Laplacian equation '
'is solved in the surface reconstruction step. '
'Increasing this value increases computation '
'times slightly but helps reduce memory usage.'))
parser.add_argument('--odm_texturing-textureResolution',
metavar='<positive integer>',
default=4096,
type=int,
help=('The resolution of the output textures. Must be '
'greater than textureWithSize.'))
parser.add_argument('--odm_texturing-textureWithSize',
metavar='<positive integer>',
default=3600,
type=int,
help=('The resolution to rescale the images performing '
'the texturing.'))
parser.add_argument('--odm_georeferencing-gcpFile',
metavar='<path string>',
default='gcp_list.txt',
help=('path to the file containing the ground control '
'points used for georeferencing.The file needs to '
'be on the following line format: \neasting '
'northing height pixelrow pixelcol imagename'))
parser.add_argument('--odm_georeferencing-useGcp',
type = bool,
default = False,
help = 'set to true for enabling GCPs from the file above')
parser.add_argument('--zip-results',
action='store_true',
default=False,
help='compress the results using gunzip')
parser.add_argument('--use-opensfm',
type=bool,
default=False,
help='use OpenSfM instead of Bundler to find the camera positions '
'(replaces getKeypoints, match and bundler steps)')
args = parser.parse_args()
print "\n - configuration:"
print vars(args)
# for key in vars(args):
# if key != "":
# print " " + key + ": " + str(args[key])
# print "\n"
def run(cmd):
"""Run a system command"""
print 'running', cmd
returnCode = os.system(cmd)
print 'b'
if (returnCode != 0):
sys.exit("\nquitting cause: \n\t" + cmd + "\nreturned with code " +
str(returnCode) + ".\n")
def now():
"""Return the current time"""
return datetime.datetime.now().strftime('%a %b %d %H:%M:%S %Z %Y')
def run_and_return(cmdSrc, cmdDest):
"""Run a system command and return the output"""
srcProcess = subprocess.Popen(shlex.split(cmdSrc), stdout=subprocess.PIPE)
if cmdDest:
destProcess = subprocess.Popen(shlex.split(cmdDest),
stdin=srcProcess.stdout,
stdout=subprocess.PIPE)
stdout, stderr = destProcess.communicate()
else:
stdout, stderr = srcProcess.communicate()
return stdout.decode('ascii')
def mkdir_p(path):
'''Make a directory including parent directories.
'''
try:
os.makedirs(path)
except os.error as exc:
if exc.errno != errno.EEXIST or not os.path.isdir(path):
raise
def calculate_EPSG(utmZone, south):
"""Calculate and return the EPSG"""
if south:
return 32700 + utmZone
else:
return 32600 + utmZone
def parse_coordinate_system():
"""Write attributes to jobOptions from coord file"""
if os.path.isfile(jobOptions['jobDir'] +
'/odm_georeferencing/coordFile.txt'):
with open(jobOptions['jobDir'] + '/odm_georeferencing/coordFile.txt') as f:
for lineNumber, line in enumerate(f):
if lineNumber == 0:
tokens = line.split(' ')
if len(tokens) == 3:
utmZoneString = tokens[2][0:len(tokens[2])-2].strip()
utmSouthBool = (tokens[2][len(tokens[2])-2].strip() == 'S')
jobOptions['csString'] = '+datum=WGS84 +proj=utm +zone=' + utmZoneString + (' +south' if utmSouthBool else '')
jobOptions['epsg'] = calculate_EPSG(int(utmZoneString), utmSouthBool)
elif lineNumber == 1:
tokens = line.split(' ')
if len(tokens) == 2:
jobOptions['utmEastOffset'] = int(tokens[0].strip())
jobOptions['utmNorthOffset'] = int(tokens[1].strip())
else:
break
def prepare_objects():
"""Prepare the jobOptions and fileObjects dicts"""
source_files = run_and_return('ls -1', 'egrep "\.[jJ]{1}[pP]{1}[eE]{0,1}[gG]{1}"')
print "\n - source files - " + now()
for filename in source_files.split('\n'):
filename = filename.rstrip('\n')
if not filename:
continue
file_make = run_and_return('jhead "' + filename + '"', 'grep "Camera make"')
file_model = run_and_return('jhead "' + filename + '"', 'grep "Camera model"')
file_focal = run_and_return('jhead "' + filename + '"', 'grep "Focal length"')
file_ccd = run_and_return('jhead "' + filename + '"', 'grep "CCD width"')
file_resolution = run_and_return('jhead "' + filename + '"', 'grep "Resolution"')
fileObject = {}
fileObject["src"] = filename
fileObject["base"] = re.sub("\.[^\.]*$", "", filename)
match = re.search(": ([^\n\r]*)", file_make)
if match:
fileObject["make"] = match.group(1).strip()
match = re.search(": ([^\n\r]*)", file_model)
if match:
fileObject["model"] = match.group(1).strip()
if "make" in fileObject:
fileObject["make"] = re.sub("^\s+", "", fileObject["make"])
fileObject["make"] = re.sub("\s+$", "", fileObject["make"])
if "model" in fileObject:
fileObject["model"] = re.sub("^\s+", "", fileObject["model"])
fileObject["model"] = re.sub("\s+$", "", fileObject["model"])
if "make" in fileObject:
fileObject["id"] = fileObject["make"]
if "model" in fileObject:
fileObject["id"] += " " + fileObject["model"]
match = re.search(": ([0-9]*) x ([0-9]*)", file_resolution)
if match:
fileObject["width"] = int(match.group(1).strip())
fileObject["height"] = int(match.group(2).strip())
if args.force_focal is None:
match = re.search(":[\ ]*([0-9\.]*)mm", file_focal)
if match:
fileObject["focal"] = float((match.group()[1:-2]).strip())
else:
fileObject["focal"] = args.force_focal
if args.force_ccd is None:
match = re.search(":[\ ]*([0-9\.]*)mm", file_ccd)
if match:
fileObject["ccd"] = float(match.group()[1:-2].strip())
if ("ccd" not in fileObject) and ("id" in fileObject):
fileObject["ccd"] = float(ccdWidths[fileObject["id"]])
else:
fileObject["ccd"] = args.force_ccd
if "ccd" in fileObject and "focal" in fileObject and "width" in fileObject and "height" in fileObject:
if fileObject["width"] > fileObject["height"]:
fileObject["focalpx"] = fileObject["width"] * fileObject["focal"] / fileObject["ccd"]
else:
fileObject["focalpx"] = fileObject["height"] * fileObject["focal"] / fileObject["ccd"]
fileObject["isOk"] = True
objectStats["good"] += 1
print " using " + fileObject["src"] + " dimensions: " + str(fileObject["width"]) + "x" + str(fileObject["height"]) + " / focal: " + str(fileObject["focal"]) + "mm / ccd: " + str(fileObject["ccd"]) + "mm"
else:
fileObject["isOk"] = False
objectStats["bad"] += 1
if "id" in fileObject:
print "\n no CCD width or focal length found for " + fileObject["src"] + " - camera: \"" + fileObject["id"] + "\""
else:
print "\n no CCD width or focal length found"
objectStats["count"] += 1
if "width" in fileObject and "height" in fileObject:
if objectStats["minWidth"] == 0:
objectStats["minWidth"] = fileObject["width"]
if objectStats["minHeight"] == 0:
objectStats["minHeight"] = fileObject["height"]
if objectStats["minWidth"] < fileObject["width"]:
objectStats["minWidth"] = objectStats["minWidth"]
else:
objectStats["minWidth"] = fileObject["width"]
if objectStats["minHeight"] < fileObject["height"]:
objectStats["minHeight"] = objectStats["minHeight"]
else:
objectStats["minHeight"] = fileObject["height"]
if objectStats["maxWidth"] > fileObject["width"]:
objectStats["maxWidth"] = objectStats["maxWidth"]
else:
objectStats["maxWidth"] = fileObject["width"]
if objectStats["maxHeight"] > fileObject["height"]:
objectStats["maxHeight"] = objectStats["maxHeight"]
else:
objectStats["maxHeight"] = fileObject["height"]
objects.append(fileObject)
if "good" not in objectStats:
print "\n found no usable images - quitting\n"
sys.exit()
else:
print "\n found " + str(objectStats["good"]) + " usable images"
print "\n"
jobOptions["resizeTo"] = args.resize_to
print " using max image size of " + str(jobOptions["resizeTo"]) + " x " + str(jobOptions["resizeTo"])
jobOptions["jobDir"] = jobOptions["srcDir"] + "/reconstruction-with-image-size-" + str(jobOptions["resizeTo"])
jobOptions["step_1_convert"] = jobOptions["jobDir"] + "/_convert.templist.txt"
jobOptions["step_1_vlsift"] = jobOptions["jobDir"] + "/_vlsift.templist.txt"
jobOptions["step_1_gzip"] = jobOptions["jobDir"] + "/_gzip.templist.txt"
jobOptions["step_2_filelist"] = jobOptions["jobDir"] + "/_filelist.templist.txt"
jobOptions["step_2_macthes_jobs"] = jobOptions["jobDir"] + "/_matches_jobs.templist.txt"
jobOptions["step_2_matches_dir"] = jobOptions["jobDir"] + "/matches"
jobOptions["step_2_matches"] = jobOptions["jobDir"] + "/matches.init.txt"
jobOptions["step_3_filelist"] = jobOptions["jobDir"] + "/list.txt"
jobOptions["step_3_bundlerOptions"] = jobOptions["jobDir"] + "/options.txt"
try:
os.mkdir(jobOptions["jobDir"])
except:
pass
for fileObject in objects:
if fileObject["isOk"]:
fileObject["step_0_resizedImage"] = jobOptions["jobDir"] + "/" + fileObject["src"]
fileObject["step_1_pgmFile"] = jobOptions["jobDir"] + "/" + fileObject["base"] + ".pgm"
fileObject["step_1_keyFile"] = jobOptions["jobDir"] + "/" + fileObject["base"] + ".key"
fileObject["step_1_gzFile"] = jobOptions["jobDir"] + "/" + fileObject["base"] + ".key.gz"
def resize():
"""Resize images"""
print "\n - preparing images - " + now()
os.chdir(jobOptions["jobDir"])
for fileObject in objects:
if fileObject["isOk"]:
if not os.path.isfile(fileObject["step_0_resizedImage"]):
if jobOptions["resizeTo"] != 0 and ((int(fileObject["width"]) > jobOptions["resizeTo"]) or (fileObject["height"] > jobOptions["resizeTo"])):
sys.stdout.write(" resizing " + fileObject["src"] + " \tto " + fileObject["step_0_resizedImage"])
run("convert -resize " + str(jobOptions["resizeTo"]) + "x" + str(jobOptions["resizeTo"]) + " -quality 100 \"" + jobOptions["srcDir"] + "/" + fileObject["src"] + "\" \"" + fileObject["step_0_resizedImage"] + "\"")
else:
sys.stdout.write(" copying " + fileObject["src"] + " \tto " + fileObject["step_0_resizedImage"])
shutil.copyfile(CURRENT_DIR + "/" + fileObject["src"], fileObject["step_0_resizedImage"])
else:
print " using existing " + fileObject["src"] + " \tto " + fileObject["step_0_resizedImage"]
file_resolution = run_and_return('jhead "' + fileObject["step_0_resizedImage"] + '"', 'grep "Resolution"')
match = re.search(": ([0-9]*) x ([0-9]*)", file_resolution)
if match:
fileObject["width"] = int(match.group(1).strip())
fileObject["height"] = int(match.group(2).strip())
print "\t (" + str(fileObject["width"]) + " x " + str(fileObject["height"]) + ")"
def getKeypoints():
"""Run vlsift to create keypoint files for each image"""
print "\n - finding keypoints - " + now()
os.chdir(jobOptions["jobDir"])
vlsiftJobs = ""
c = 0
for fileObject in objects:
c += 1
if fileObject["isOk"]:
if not os.path.isfile(jobOptions["jobDir"] + "/" + fileObject["base"] + ".key.bin"):
vlsiftJobs += "echo -n \"" + str(c) + "/" + str(objectStats["good"]) + " - \" && convert -format pgm \"" + fileObject["step_0_resizedImage"] + "\" \"" + fileObject["step_1_pgmFile"] + "\""
vlsiftJobs += " && \"" + BIN_PATH + "/vlsift\" \"" + fileObject["step_1_pgmFile"] + "\" -o \"" + fileObject["step_1_keyFile"] + ".sift\" > /dev/null && perl \"" + BIN_PATH + "/../convert_vlsift_to_lowesift.pl\" \"" + jobOptions["jobDir"] + "/" + fileObject["base"] + "\""
vlsiftJobs += " && gzip -f \"" + fileObject["step_1_keyFile"] + "\""
vlsiftJobs += " && rm -f \"" + fileObject["step_1_pgmFile"] + "\""
vlsiftJobs += " && rm -f \"" + fileObject["step_1_keyFile"] + ".sift\"\n"
else:
print "using existing " + jobOptions["jobDir"] + "/" + fileObject["base"] + ".key.bin"
siftDest = open(jobOptions["step_1_vlsift"], 'w')
siftDest.write(vlsiftJobs)
siftDest.close()
run("\"" + BIN_PATH + "/parallel\" --no-notice --halt-on-error 1 -j+0 < \"" + jobOptions["step_1_vlsift"] + "\"")
def match():
"""Run matches on images"""
print "\n - matching keypoints - " + now()
os.chdir(jobOptions["jobDir"])
try:
os.mkdir(jobOptions["step_2_matches_dir"])
except:
pass
matchesJobs = ""
c = 0
t = (objectStats["good"] - 1) * (objectStats["good"] / 2) # BUG:unused
preselected_pairs = []
# Create a file list with all keypoint files
filesList = ""
for fileObject in objects:
if fileObject["isOk"]:
filesList += fileObject["step_1_keyFile"] + "\n"
matchDest = open(jobOptions["step_2_filelist"], 'w')
matchDest.write(filesList)
matchDest.close()
# Check if preselection is to be run
if args.matcher_preselect:
useKnn = True
if args.matcher_useKnn:
useKnn = False # BUG: never used
preselected_pairs = knnMatch_exif.preselect_pairs(BIN_PATH + "/odm_extract_utm", jobOptions["step_2_filelist"], args.matcher_kDistance, args.matcher_useKnn)
if len(preselected_pairs) != 0:
for i, j, in preselected_pairs:
c += 1
if i < 10:
print i, j
if not os.path.isfile(jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt"):
matchesJobs += "echo -n \".\" && touch \"" + jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt\" && \"" + BIN_PATH + "/KeyMatch\" \"" + objects[i]["step_1_keyFile"] + "\" \"" + objects[j]["step_1_keyFile"] + "\" \"" + jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt\" " + str(args.matcher_ratio) + " " + str(args.matcher_threshold) + "\n"
# Match all image pairs
else:
if args.matcher_preselect == "true":
print "Failed to run pair preselection, proceeding with exhaustive matching."
for i in range(0, objectStats["good"]):
for j in range(i + 1, objectStats["good"]):
c += 1
if not os.path.isfile(jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt"):
matchesJobs += "echo -n \".\" && touch \"" + jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt\" && \"" + BIN_PATH + "/KeyMatch\" \"" + objects[i]["step_1_keyFile"] + "\" \"" + objects[j]["step_1_keyFile"] + "\" \"" + jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt\" " + str(args.matcher_ratio) + " " + str(args.matcher_threshold) + "\n"
matchDest = open(jobOptions["step_2_macthes_jobs"], 'w')
matchDest.write(matchesJobs)
matchDest.close()
run("\"" + BIN_PATH + "/parallel\" --no-notice --halt-on-error 1 -j+0 < \"" + jobOptions["step_2_macthes_jobs"] + "\"")
run("rm -f \"" + jobOptions["step_2_matches"] + "\"")
for i in range(0, objectStats["good"]):
for j in range(i + 1, objectStats["good"]):
c += 1
if os.path.isfile(jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt") and os.path.getsize(jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt") > 0:
run("echo \"" + str(i) + " " + str(j) + "\" >> \"" + jobOptions["step_2_matches"] + "\" && cat \"" + jobOptions["step_2_matches_dir"] + "/" + str(i) + "-" + str(j) + ".txt\" >> \"" + jobOptions["step_2_matches"] + "\"")
filesList = ""
for fileObject in objects:
if fileObject["isOk"]:
filesList += fileObject["step_1_keyFile"] + "\n"
matchDest = open(jobOptions["step_2_filelist"], 'w')
matchDest.write(filesList)
matchDest.close()
# run("\"" + BIN_PATH + "/KeyMatchFull\" \"" + jobOptions["step_2_filelist"] + "\" \"" + jobOptions["step_2_matches"] + "\" ")
def bundler():
"""Run bundler and prepare bundle for PMVS"""
print "\n - running bundler - " + now()
os.chdir(jobOptions["jobDir"])
try:
os.mkdir(jobOptions["jobDir"] + "/bundle")
except:
pass
try:
os.mkdir(jobOptions["jobDir"] + "/pmvs")
except:
pass
try:
os.mkdir(jobOptions["jobDir"] + "/pmvs/txt")
except:
pass
try:
os.mkdir(jobOptions["jobDir"] + "/pmvs/visualize")
except:
pass
try:
os.mkdir(jobOptions["jobDir"] + "/pmvs/models")
except:
pass
filesList = ""
for fileObject in objects:
if fileObject["isOk"]:
filesList += "./" + fileObject["src"] + " 0 {:.5f}\n".format(fileObject["focalpx"])
filesList = filesList.rstrip('\n')
bundlerOptions = "--match_table matches.init.txt\n"
bundlerOptions += "--output bundle.out\n"
bundlerOptions += "--output_all bundle_\n"
bundlerOptions += "--output_dir bundle\n"
bundlerOptions += "--variable_focal_length\n"
bundlerOptions += "--use_focal_estimate\n"
bundlerOptions += "--constrain_focal\n"
bundlerOptions += "--constrain_focal_weight 0.0\n"
bundlerOptions += "--estimate_distortion\n"
bundlerOptions += "--run_bundle"
run("echo \"" + bundlerOptions + "\" > \"" + jobOptions["step_3_bundlerOptions"] + "\"")
bundlerDest = open(jobOptions["step_3_filelist"], 'w')
bundlerDest.write(filesList)
bundlerDest.close()
run("\"" + BIN_PATH + "/bundler\" \"" + jobOptions["step_3_filelist"] + "\" --options_file \"" + jobOptions["step_3_bundlerOptions"] + "\" > bundle/out")
run("\"" + BIN_PATH + "/Bundle2PMVS\" \"" + jobOptions["step_3_filelist"] + "\" bundle/bundle.out")
run("\"" + BIN_PATH + "/RadialUndistort\" \"" + jobOptions["step_3_filelist"] + "\" bundle/bundle.out pmvs")
i = 0
for fileObject in objects:
if fileObject["isOk"]:
if os.path.isfile("pmvs/" + fileObject["base"] + ".rd.jpg"):
nr = "{0:08d}".format(i)
i += 1
run("mv pmvs/" + fileObject["base"] + ".rd.jpg pmvs/visualize/" + str(nr) + ".jpg")
run("mv pmvs/" + str(nr) + ".txt pmvs/txt/" + str(nr) + ".txt")
run("\"" + BIN_PATH + "/Bundle2Vis\" pmvs/bundle.rd.out pmvs/vis.dat")
def opensfm():
print "\n - running OpenSfM - " + now()
os.chdir(jobOptions["jobDir"])
# Create bundler's list.txt
filesList = ""
for fileObject in objects:
if fileObject["isOk"]:
filesList += "./" + fileObject["src"] + " 0 {:.5f}\n".format(fileObject["focalpx"])
filesList = filesList.rstrip('\n')
with open(jobOptions["step_3_filelist"], 'w') as fout:
fout.write(filesList)
# Create opensfm working folder
mkdir_p("opensfm")
# Configure OpenSfM
config = [
"use_exif_size: no",
"features_process_size: {}".format(jobOptions["resizeTo"]),
"preemptive_threshold: 5",
"processes: {}".format(CORES),
]
with open('opensfm/config.yaml', 'w') as fout:
fout.write("\n".join(config))
print 'running import_bundler'
# Convert bundler's input to opensfm
run('PYTHONPATH={} "{}/bin/import_bundler" opensfm --list list.txt'.format(PYOPENCV_PATH, OPENSFM_PATH))
# Run OpenSfM reconstruction
run('PYTHONPATH={} "{}/bin/run_all" opensfm'.format(PYOPENCV_PATH, OPENSFM_PATH))
# Convert back to bundler's format
run('PYTHONPATH={} "{}/bin/export_bundler" opensfm'.format(PYOPENCV_PATH, OPENSFM_PATH))
bundler_to_pmvs("opensfm/bundle_r000.out")
if args.end_with != "bundler":
cmvs()
def bundler_to_pmvs(bundle_out):
"""Converts bundler's output to PMVS format"""
print "\n - converting bundler output to PMVS - " + now()
os.chdir(jobOptions['jobDir'])
mkdir_p(jobOptions['jobDir'] + "/pmvs")
mkdir_p(jobOptions['jobDir'] + "/pmvs/txt")
mkdir_p(jobOptions['jobDir'] + "/pmvs/visualize")
mkdir_p(jobOptions['jobDir'] + "/pmvs/models")
run("\"" + BIN_PATH + "/Bundle2PMVS\" \"" + jobOptions["step_3_filelist"] + "\" " + bundle_out)
run("\"" + BIN_PATH + "/RadialUndistort\" \"" + jobOptions["step_3_filelist"] + "\" " + bundle_out + " pmvs")
i = 0
for fileObject in objects:
if fileObject["isOk"]:
if os.path.isfile("pmvs/" + fileObject["base"] + ".rd.jpg"):
nr = "{0:08d}".format(i)
i += 1
run("mv pmvs/" + fileObject["base"] + ".rd.jpg pmvs/visualize/" + str(nr) + ".jpg")
run("mv pmvs/" + str(nr) + ".txt pmvs/txt/" + str(nr) + ".txt")
run("\"" + BIN_PATH + "/Bundle2Vis\" pmvs/bundle.rd.out pmvs/vis.dat")
def cmvs():
"""Run CMVS"""
print "\n - running cmvs - " + now()
os.chdir(jobOptions["jobDir"])
run("\"" + BIN_PATH + "/cmvs\" pmvs/ " + str(args.cmvs_maxImages) + " " + str(CORES))
run("\"" + BIN_PATH + "/genOption\" pmvs/ " + str(args.pmvs_level) + " " + str(args.pmvs_csize) + " " + str(args.pmvs_threshold) + " " + str(args.pmvs_wsize) + " " + str(args.pmvs_minImageNum) + " " + str(CORES))
def pmvs():
"""Run PMVS"""
print "\n - running pmvs - " + now()
os.chdir(jobOptions["jobDir"])
run("\"" + BIN_PATH + "/pmvs2\" pmvs/ option-0000")
run("cp -Rf \"" + jobOptions["jobDir"] + "/pmvs/models\" \"" + jobOptions["jobDir"] + "-results\"")
def odm_meshing():
"""Run odm_meshing"""
print "\n - running meshing - " + now()
os.chdir(jobOptions["jobDir"])
try:
os.mkdir(jobOptions["jobDir"] + "/odm_meshing")
except:
pass
run("\"" + BIN_PATH + "/odm_meshing\" -inputFile " + jobOptions["jobDir"] + "-results/option-0000.ply -outputFile " + jobOptions["jobDir"] + "-results/odm_mesh-0000.ply -logFile " + jobOptions["jobDir"] + "/odm_meshing/odm_meshing_log.txt -maxVertexCount " + str(args.odm_meshing_maxVertexCount) + " -octreeDepth " + str(args.odm_meshing_octreeDepth) + " -samplesPerNode " + str(args.odm_meshing_samplesPerNode) + " -solverDivide " + str(args.odm_meshing_solverDivide))
def odm_texturing():
"""Run odm_texturing"""
print "\n - running texturing - " + now()
os.chdir(jobOptions["jobDir"])
try:
os.mkdir(jobOptions["jobDir"] + "/odm_texturing")
os.mkdir(jobOptions["jobDir"] + "-results/odm_texturing")
except:
pass
# Create list of original image files
pmvs_list = jobOptions["jobDir"] + "/pmvs/list.rd.txt"
texturing_list = jobOptions['jobDir'] + "/odm_texturing/image_list.txt"
with open(pmvs_list) as fin:
with open(texturing_list, "w") as fout:
for line in fin:
base = line.rstrip('\n')[2:-4]
for fileObject in objects:
if fileObject["base"] == base:
fout.write("./{}\n".format(fileObject["src"]))
break
run("\"" + BIN_PATH + "/odm_texturing\" -bundleFile " + jobOptions["jobDir"] + "/pmvs/bundle.rd.out -imagesPath " + jobOptions["srcDir"] + "/ -imagesListPath " + texturing_list + " -inputModelPath " + jobOptions["jobDir"] + "-results/odm_mesh-0000.ply -outputFolder " + jobOptions["jobDir"] + "-results/odm_texturing/ -textureResolution " + str(args.odm_texturing_textureResolution) + " -bundleResizedTo " + str(jobOptions["resizeTo"]) + " -textureWithSize " + str(args.odm_texturing_textureWithSize) + " -logFile " + jobOptions["jobDir"] + "/odm_texturing/odm_texturing_log.txt")
def odm_georeferencing():
"""Run odm_georeferencing"""
print "\n - running georeferencing - " + now()
os.chdir(jobOptions["jobDir"])
try:
os.mkdir(jobOptions["jobDir"] + "/odm_georeferencing")
except:
pass
if not args.odm_georeferencing_useGcp:
run("\"" + BIN_PATH + "/odm_extract_utm\" -imagesPath " + jobOptions["srcDir"] + "/ -imageListFile " + jobOptions["jobDir"] + "/pmvs/list.rd.txt -outputCoordFile " + jobOptions["jobDir"] + "/odm_georeferencing/coordFile.txt")
run("\"" + BIN_PATH + "/odm_georef\" -bundleFile " + jobOptions["jobDir"] + "/pmvs/bundle.rd.out -inputCoordFile " + jobOptions["jobDir"] + "/odm_georeferencing/coordFile.txt -inputFile " + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model.obj -outputFile " + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model_geo.obj -inputPointCloudFile " + jobOptions["jobDir"] + "-results/option-0000.ply -outputPointCloudFile " + jobOptions["jobDir"] + "-results/option-0000_georef.ply -logFile " + jobOptions["jobDir"] + "/odm_georeferencing/odm_georeferencing_log.txt -georefFileOutputPath " + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model_geo_georef_system.txt")
elif os.path.isfile(jobOptions["srcDir"] + "/" + args.odm_georeferencing_gcpFile):
run("\"" + BIN_PATH + "/odm_georef\" -bundleFile " + jobOptions["jobDir"] + "/pmvs/bundle.rd.out -gcpFile " + jobOptions["srcDir"] + "/" + args.odm_georeferencing_gcpFile + " -imagesPath " + jobOptions["srcDir"] + "/ -imagesListPath " + jobOptions["jobDir"] + "/pmvs/list.rd.txt -bundleResizedTo " + str(jobOptions["resizeTo"]) + " -inputFile " + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model.obj -outputFile " + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model_geo.obj -outputCoordFile " + jobOptions["jobDir"] + "/odm_georeferencing/coordFile.txt -inputPointCloudFile " + jobOptions["jobDir"] + "-results/option-0000.ply -outputPointCloudFile " + jobOptions["jobDir"] + "-results/option-0000_georef.ply -logFile " + jobOptions["jobDir"] + "/odm_georeferencing/odm_georeferencing_log.txt -georefFileOutputPath " + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model_geo_georef_system.txt")
else:
print "Warning: No GCP file. Consider rerunning with argument --odm_georeferencing-useGcp false --start-with odm_georeferencing"
print "Skipping orthophoto"
args.end_with = "odm_georeferencing"
if "csString" not in jobOptions:
parse_coordinate_system()
if "csString" in jobOptions and "utmEastOffset" in jobOptions and "utmNorthOffset" in jobOptions:
images = []
with open(jobOptions["jobDir"] + "/pmvs/list.rd.txt") as f:
images = f.readlines()
if len(images) > 0:
with open(jobOptions["jobDir"] + "/odm_georeferencing/coordFile.txt") as f:
for lineNumber, line in enumerate(f):
if lineNumber >= 2 and lineNumber - 2 < len(images):
tokens = line.split(' ')
if len(tokens) >= 3:
x = float(tokens[0])
y = float(tokens[1])
z = float(tokens[2])
filename = images[lineNumber - 2]
run("echo " + str(x + jobOptions["utmEastOffset"]) + " " + str(y + jobOptions["utmNorthOffset"]) + " " + str(z) + " | cs2cs " + jobOptions["csString"] + " +to +datum=WGS84 +proj=latlong > " + jobOptions["jobDir"] + "/odm_georeferencing/latlong.txt")
with open(jobOptions["jobDir"] + "/odm_georeferencing/latlong.txt") as latlongFile:
latlongLine = latlongFile.readline()
tokens = latlongLine.split()
if len(tokens) >= 2:
exifGpsInfoWritten = False
lonString = tokens[0] # Example: 83d18'16.285"W
latString = tokens[1] # Example: 41d2'11.789"N
altString = ""
if len(tokens) > 2:
altString = tokens[2] # Example: 0.998
tokens = re.split("[d '\"]+", lonString)
if len(tokens) >= 4:
lonDeg = tokens[0]
lonMin = tokens[1]
lonSec = tokens[2]
lonSecFrac = fractions.Fraction(lonSec)
lonSecNumerator = str(lonSecFrac._numerator)
lonSecDenominator = str(lonSecFrac._denominator)
lonRef = tokens[3]
tokens = re.split("[d '\"]+", latString)
if len(tokens) >= 4:
latDeg = tokens[0]
latMin = tokens[1]
latSec = tokens[2]
latSecFrac = fractions.Fraction(latSec)
latSecNumerator = str(latSecFrac._numerator)
latSecDenominator = str(latSecFrac._denominator)
latRef = tokens[3]
exivCmd = "exiv2 -q"
exivCmd += " -M\"set Exif.GPSInfo.GPSLatitude " + latDeg + "/1 " + latMin + "/1 " + latSecNumerator + "/" + latSecDenominator + "\""
exivCmd += " -M\"set Exif.GPSInfo.GPSLatitudeRef " + latRef + "\""
exivCmd += " -M\"set Exif.GPSInfo.GPSLongitude " + lonDeg + "/1 " + lonMin + "/1 " + lonSecNumerator + "/" + lonSecDenominator + "\""
exivCmd += " -M\"set Exif.GPSInfo.GPSLongitudeRef " + lonRef + "\""
altNumerator = arcDenominator = 0 # BUG: arcDenominator is never used
if altString:
altFrac = fractions.Fraction(altString)
altNumerator = str(altFrac._numerator)
altDenominator = str(altFrac._denominator)
exivCmd += " -M\"set Exif.GPSInfo.GPSAltitude " + altNumerator + "/" + altDenominator + "\""
exivCmd += " -M\"set Exif.GPSInfo.GPSAltitudeRef 0\""
exivCmd += " " + filename
run(exivCmd)
exifGpsInfoWritten = True
if not exifGpsInfoWritten:
print(" Warning: Failed setting EXIF GPS info for " + filename + " based on " + latlongLine)
if "epsg" in jobOptions and "utmEastOffset" in jobOptions and "utmNorthOffset" in jobOptions:
lasCmd = "\"" + BIN_PATH + "/txt2las\" -i " + jobOptions["jobDir"] + "-results/option-0000_georef.ply -o " + jobOptions["jobDir"] + "-results/pointcloud_georef.laz -skip 30 -parse xyzRGBssss -set_scale 0.01 0.01 0.01 -set_offset " + str(jobOptions["utmEastOffset"]) + " " + str(jobOptions["utmNorthOffset"]) + " 0 -translate_xyz " + str(jobOptions["utmEastOffset"]) + " " + str(jobOptions["utmNorthOffset"]) + " 0 -epsg " + str(jobOptions["epsg"])
print(" Creating geo-referenced LAS file (expecting warning)...")
run(lasCmd)
def odm_orthophoto():
"""Run odm_orthophoto"""
print "\n - running orthophoto generation - " + now()
os.chdir(jobOptions["jobDir"])
try:
os.mkdir(jobOptions["jobDir"] + "/odm_orthophoto")
except:
pass
run("\"" + BIN_PATH + "/odm_orthophoto\" -inputFile " + jobOptions["jobDir"] + "-results/odm_texturing/odm_textured_model_geo.obj -logFile " + jobOptions["jobDir"] + "/odm_orthophoto/odm_orthophoto_log.txt -outputFile " + jobOptions["jobDir"] + "-results/odm_orthphoto.png -resolution 20.0 -outputCornerFile " + jobOptions["jobDir"] + "/odm_orthphoto_corners.txt")
if "csString" not in jobOptions:
parse_coordinate_system()
geoTiffCreated = False
if ("csString" in jobOptions and
"utmEastOffset" in jobOptions and "utmNorthOffset" in jobOptions):
ulx = uly = lrx = lry = 0.0
with open(jobOptions["jobDir"] +
"/odm_orthphoto_corners.txt") as f:
for lineNumber, line in enumerate(f):
if lineNumber == 0:
tokens = line.split(' ')
if len(tokens) == 4:
ulx = float(tokens[0]) + \
float(jobOptions["utmEastOffset"])
lry = float(tokens[1]) + \
float(jobOptions["utmNorthOffset"])
lrx = float(tokens[2]) + \
float(jobOptions["utmEastOffset"])
uly = float(tokens[3]) + \
float(jobOptions["utmNorthOffset"])
print(" Creating GeoTIFF...")
sys.stdout.write(" ")
run("gdal_translate -a_ullr " + str(ulx) + " " + str(uly) + " " +
str(lrx) + " " + str(lry) + " -a_srs \"" + jobOptions["csString"] +
"\" " + jobOptions["jobDir"] + "-results/odm_orthphoto.png " +
jobOptions["jobDir"] + "-results/odm_orthphoto.tif")
geoTiffCreated = True
if not geoTiffCreated:
print(" Warning: No geo-referenced orthophoto created due to "
"missing geo-referencing or corner coordinates.")
if args.use_opensfm:
sfm_tasks = [
("resize", resize),
("opensfm", opensfm),
]
else:
sfm_tasks = [
("resize", resize),
("getKeypoints", getKeypoints),
("match", match),
("bundler", bundler),
]
tasks = sfm_tasks + [
("cmvs", cmvs),
("pmvs", pmvs),
("odm_meshing", odm_meshing),
("odm_texturing", odm_texturing),
("odm_georeferencing", odm_georeferencing),
("odm_orthophoto", odm_orthophoto),
]
if __name__ == '__main__':
prepare_objects()
os.chdir(jobOptions["jobDir"])
run_tasks = False
for name, func in tasks:
if args.start_with == name:
run_tasks = True
if run_tasks:
func()
if args.end_with == name:
break
if args.zip_results:
print "\nCompressing results - " + now()
run("cd " + jobOptions["jobDir"] + "-results/ && tar -czf " +
jobOptions["jobDir"] + "-results.tar.gz *")
print "\n - done - " + now()