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