kopia lustrzana https://github.com/OpenDroneMap/ODM
112 wiersze
4.0 KiB
Python
112 wiersze
4.0 KiB
Python
"""Cell to run odm_slam."""
|
|
|
|
import os
|
|
|
|
import ecto
|
|
|
|
from opendm import log
|
|
from opendm import io
|
|
from opendm import system
|
|
from opendm import context
|
|
|
|
|
|
class ODMSlamCell(ecto.Cell):
|
|
"""Run odm_slam on a video and export to opensfm format."""
|
|
|
|
def declare_params(self, params):
|
|
"""Cell parameters."""
|
|
pass
|
|
|
|
def declare_io(self, params, inputs, outputs):
|
|
"""Cell inputs and outputs."""
|
|
inputs.declare("tree", "Struct with paths", [])
|
|
inputs.declare("args", "The application arguments.", {})
|
|
outputs.declare("reconstruction", "list of ODMReconstructions", [])
|
|
|
|
def process(self, inputs, outputs):
|
|
"""Run the cell."""
|
|
log.ODM_INFO('Running OMD Slam Cell')
|
|
|
|
# get inputs
|
|
tree = self.inputs.tree
|
|
args = self.inputs.args
|
|
video = os.path.join(tree.root_path, args.video)
|
|
slam_config = os.path.join(tree.root_path, args.slam_config)
|
|
|
|
if not video:
|
|
log.ODM_ERROR('No video provided')
|
|
return ecto.QUIT
|
|
|
|
# create working directories
|
|
system.mkdir_p(tree.opensfm)
|
|
system.mkdir_p(tree.pmvs)
|
|
|
|
vocabulary = os.path.join(context.orb_slam2_path,
|
|
'Vocabulary/ORBvoc.txt')
|
|
orb_slam_cmd = os.path.join(context.odm_modules_path, 'odm_slam')
|
|
trajectory = os.path.join(tree.opensfm, 'KeyFrameTrajectory.txt')
|
|
map_points = os.path.join(tree.opensfm, 'MapPoints.txt')
|
|
|
|
# check if we rerun cell or not
|
|
rerun_cell = args.rerun == 'slam'
|
|
|
|
# check if slam was run before
|
|
if not io.file_exists(trajectory) or rerun_cell:
|
|
# run slam binary
|
|
system.run(' '.join([
|
|
'cd {} &&'.format(tree.opensfm),
|
|
orb_slam_cmd,
|
|
vocabulary,
|
|
slam_config,
|
|
video,
|
|
]))
|
|
else:
|
|
log.ODM_WARNING('Found a valid slam trajectory in: {}'.format(
|
|
trajectory))
|
|
|
|
# check if trajectory was exported to opensfm before
|
|
if not io.file_exists(tree.opensfm_reconstruction) or rerun_cell:
|
|
# convert slam to opensfm
|
|
system.run(' '.join([
|
|
'cd {} &&'.format(tree.opensfm),
|
|
'PYTHONPATH={}:{}'.format(context.pyopencv_path,
|
|
context.opensfm_path),
|
|
'python',
|
|
os.path.join(context.odm_modules_src_path,
|
|
'odm_slam/src/orb_slam_to_opensfm.py'),
|
|
video,
|
|
trajectory,
|
|
map_points,
|
|
slam_config,
|
|
]))
|
|
# link opensfm images to resized images
|
|
os.symlink(tree.opensfm + '/images', tree.dataset_resize)
|
|
else:
|
|
log.ODM_WARNING('Found a valid OpenSfM file in: {}'.format(
|
|
tree.opensfm_reconstruction))
|
|
|
|
# check if reconstruction was exported to bundler before
|
|
if not io.file_exists(tree.opensfm_bundle_list) or rerun_cell:
|
|
# convert back to bundler's format
|
|
system.run(
|
|
'PYTHONPATH={} {}/bin/export_bundler {}'.format(
|
|
context.pyopencv_path, context.opensfm_path, tree.opensfm))
|
|
else:
|
|
log.ODM_WARNING(
|
|
'Found a valid Bundler file in: {}'.format(
|
|
tree.opensfm_reconstruction))
|
|
|
|
# check if reconstruction was exported to pmvs before
|
|
if not io.file_exists(tree.pmvs_visdat) or rerun_cell:
|
|
# run PMVS converter
|
|
system.run(
|
|
'PYTHONPATH={} {}/bin/export_pmvs {} --output {}'.format(
|
|
context.pyopencv_path, context.opensfm_path, tree.opensfm,
|
|
tree.pmvs))
|
|
else:
|
|
log.ODM_WARNING('Found a valid CMVS file in: {}'.format(
|
|
tree.pmvs_visdat))
|
|
|
|
log.ODM_INFO('Running OMD Slam Cell - Finished')
|
|
return ecto.OK if args.end_with != 'odm_slam' else ecto.QUIT
|