kopia lustrzana https://github.com/OpenDroneMap/ODM
340 wiersze
13 KiB
Python
340 wiersze
13 KiB
Python
import time
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import datetime
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import os
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import sys
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import threading
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import signal
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import zipfile
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import glob
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from opendm import log
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from pyodm import Node, exceptions
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from pyodm.utils import AtomicCounter
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from pyodm.types import TaskStatus
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from osfm import OSFMContext
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try:
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import queue
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except ImportError:
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import Queue as queue
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class LocalRemoteExecutor:
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"""
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A class for performing OpenSfM reconstructions and full ODM pipeline executions
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using a mix of local and remote processing. Tasks are executed locally one at a time
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and remotely until a node runs out of available slots for processing. This allows us
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to use the processing power of the current machine as well as offloading tasks to a
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network node.
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"""
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def __init__(self, nodeUrl):
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self.node = Node.from_url(nodeUrl)
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self.node.tasks = []
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self.node_online = True
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log.ODM_INFO("LRE: Initializing using cluster node %s:%s" % (self.node.host, self.node.port))
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try:
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odm_version = self.node.info().odm_version
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log.ODM_INFO("LRE: Node is online and running ODM version: %s" % odm_version)
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except exceptions.NodeConnectionError:
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log.ODM_WARNING("LRE: The node seems to be offline! We'll still process the dataset, but it's going to run entirely locally.")
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self.node_online = False
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except Exception as e:
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log.ODM_ERROR("LRE: An unexpected problem happened while opening the node connection: %s" % str(e))
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exit(1)
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def set_projects(self, paths):
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self.project_paths = paths
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def run_reconstruction(self):
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if not self.project_paths:
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return
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# Shared variables across threads
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class nonloc:
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error = None
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local_is_processing = False
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semaphore = None
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node_task_limit = AtomicCounter(0)
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# Create queue
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q = queue.Queue()
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for pp in self.project_paths:
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log.ODM_DEBUG("LRE: Adding to queue %s" % pp)
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q.put(ReconstructionTask(pp, self.node))
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def cleanup_remote_tasks_and_exit():
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log.ODM_WARNING("LRE: Attempting to cleanup remote tasks")
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for task in self.node.tasks:
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log.ODM_DEBUG("Removing remote task %s... %s" % (task.uuid, task.remove()))
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os._exit(1)
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def handle_result(task, local, error = None, partial=False):
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if error:
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if isinstance(error, NodeTaskLimitReachedException) and not nonloc.semaphore:
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nonloc.semaphore = threading.Semaphore(node_task_limit.value)
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log.ODM_DEBUG("LRE: Node task limit reached. Setting semaphore to %s" % node_task_limit.value)
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for i in range(node_task_limit.value):
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nonloc.semaphore.acquire()
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log.ODM_WARNING("LRE: %s failed with: %s" % (task, str(error)))
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# Special case in which the error is caused by a SIGTERM signal
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# this means a local processing was terminated either by CTRL+C or
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# by canceling the task.
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if str(error) == "Child was terminated by signal 15":
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cleanup_remote_tasks_and_exit()
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if task.retries < task.max_retries:
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# Put task back in queue
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task.retries += 1
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task.wait_until = datetime.datetime.now() + datetime.timedelta(seconds=task.retries * task.retry_timeout)
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log.ODM_DEBUG("LRE: Re-queueing %s (retries: %s)" % (task, task.retries))
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q.put(task)
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else:
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nonloc.error = error
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else:
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if not local and not partial:
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node_task_limit.increment(-1)
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if not partial:
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log.ODM_INFO("LRE: %s finished successfully" % task)
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if local:
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nonloc.local_is_processing = False
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if nonloc.semaphore: nonloc.semaphore.release()
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q.task_done()
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def worker():
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while True:
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# If we've found a limit on the maximum number of tasks
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# a node can process, we block until some tasks have completed
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if nonloc.semaphore: nonloc.semaphore.acquire()
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task = q.get()
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if task is None or nonloc.error is not None:
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q.task_done()
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if nonloc.semaphore: nonloc.semaphore.release()
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break
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if not nonloc.local_is_processing or not self.node_online:
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# Process local
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try:
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nonloc.local_is_processing = True
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task.process(True, handle_result)
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except Exception as e:
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handle_result(task, True, e)
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else:
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# Process remote
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try:
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task.process(False, handle_result)
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node_task_limit.increment() # Called after upload, but before processing is started
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except Exception as e:
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handle_result(task, False, e)
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# Define thread
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t = threading.Thread(target=worker)
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# Capture SIGTERM so that we can
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# attempt to cleanup if the process is terminated
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original_sigterm_handler = signal.getsignal(signal.SIGTERM)
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def sigterm_handler(signum, frame):
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log.ODM_WARNING("LRE: Caught SIGTERM")
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cleanup_remote_tasks_and_exit()
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signal.signal(signal.SIGTERM, sigterm_handler)
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# Start worker process
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t.start()
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# block until all tasks are done (or CTRL+C)
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try:
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while q.unfinished_tasks > 0:
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time.sleep(0.5)
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except KeyboardInterrupt:
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log.ODM_WARNING("LRE: CTRL+C")
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cleanup_remote_tasks_and_exit()
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# stop workers
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q.put(None)
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# Wait for thread
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t.join()
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# restore SIGTERM handler
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signal.signal(signal.SIGTERM, original_sigterm_handler)
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if nonloc.error is not None:
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raise nonloc.error
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def run_toolchain(self):
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if not self.project_paths:
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return
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class NodeTaskLimitReachedException(Exception):
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pass
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class Task:
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def __init__(self, project_path, node, max_retries=10, retry_timeout=10):
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self.project_path = project_path
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self.node = node
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self.wait_until = datetime.datetime.now() # Don't run this task until a certain time
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self.max_retries = max_retries
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self.retries = 0
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self.retry_timeout = retry_timeout
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self.local = None
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def process(self, local, done):
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def handle_result(error = None, partial=False):
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done(self, local, error, partial)
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log.ODM_INFO("LRE: About to process %s %s" % (self, 'locally' if local else 'remotely'))
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if local:
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t = threading.Thread(target=self._process_local, args=(handle_result, ))
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t.start()
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else:
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now = datetime.datetime.now()
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if self.wait_until > now:
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wait_for = (self.wait_until - now).seconds + 1
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log.ODM_DEBUG("LRE: Waiting %s seconds before processing %s" % (wait_for, self))
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time.sleep(wait_for)
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# TODO: we could consider uploading multiple tasks
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# in parallel. But since we are using the same node
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# perhaps this wouldn't be a big speedup.
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self._process_remote(handle_result) # Block until upload is complete
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def path(self, *paths):
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return os.path.join(self.project_path, *paths)
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def create_seed_payload(self, paths, touch_files=[]):
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paths = filter(os.path.exists, map(lambda p: self.path(p), paths))
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outfile = self.path("seed.zip")
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with zipfile.ZipFile(outfile, "w", compression=zipfile.ZIP_DEFLATED) as zf:
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for p in paths:
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if os.path.isdir(p):
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for root, _, filenames in os.walk(p):
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for filename in filenames:
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filename = os.path.join(root, filename)
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filename = os.path.normpath(filename)
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zf.write(filename, os.path.relpath(filename, self.project_path))
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else:
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zf.write(p, os.path.relpath(p, self.project_path))
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for tf in touch_files:
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zf.writestr(tf, "")
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return outfile
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def _process_local(self, done):
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try:
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self.process_local()
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done()
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except Exception as e:
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done(e)
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def _process_remote(self, done):
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try:
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self.process_remote(done)
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done(error=None, partial=True) # Upload is completed, but processing is not (partial)
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except Exception as e:
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done(e)
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def process_local(self):
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raise NotImplementedError()
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def process_remote(self, done):
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raise NotImplementedError()
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def __str__(self):
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return os.path.basename(self.project_path)
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class ReconstructionTask(Task):
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def process_local(self):
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octx = OSFMContext(self.path("opensfm"))
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octx.feature_matching()
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octx.reconstruct()
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def process_remote(self, done):
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seed_file = self.create_seed_payload(["opensfm/exif",
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"opensfm/camera_models.json",
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"opensfm/reference_lla.json"], touch_files=["opensfm/split_merge_stop_at_reconstruction.txt"])
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# Find all images
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images = glob.glob(self.path("images/**"))
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# Add GCP (optional)
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if os.path.exists(self.path("gcp_list.txt")):
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images.append(self.path("gcp_list.txt"))
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# Add seed file
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images.append(seed_file)
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def print_progress(percentage):
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# if percentage % 10 == 0:
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log.ODM_DEBUG("LRE: Upload of %s at [%s%]" % (self, percentage))
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# Upload task
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task = self.node.create_task(images,
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{'dsm': True, 'orthophoto-resolution': 4}, # TODO
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progress_callback=print_progress,
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skip_post_processing=True,
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outputs=["opensfm/matches",
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"opensfm/features",])
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# Keep track of tasks for cleanup
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self.node.tasks.append(task)
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# Check status
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info = task.info()
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if info.status == TaskStatus.RUNNING:
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def monitor():
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# If a task switches from RUNNING to QUEUED, then we need to
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# stop the process and re-add the task to the queue.
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def status_callback(info):
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if info.status == TaskStatus.QUEUED:
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log.ODM_WARNING("%s (%s) turned from RUNNING to QUEUED. Re-adding to back of the queue." % (self, task.uuid))
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task.remove()
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done(NodeTaskLimitReachedException("Delayed task limit reached"), partial=True)
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try:
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def print_progress(progress):
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log.ODM_DEBUG("LRE: Download of %s at [%s%]" % (self, percentage))
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task.wait_for_completion(status_callback=status_callback)
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log.ODM_DEBUG("Downloading assets for %s" % self)
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task.download_assets(self.project_path, progress_callback=print_progress)
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done()
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except Exception as e:
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done(e)
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# Launch monitor thread and return
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threading.Thread(target=monitor).start()
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elif info.status == TaskStatus.QUEUED:
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raise NodeTaskLimitReachedException("Task limit reached")
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else:
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raise Exception("Could not send task to node, task status set to %s" % str(info.status))
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# def test():
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# time.sleep(4)
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# done()
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# if self.project_path == '/datasets/brighton/opensfm/submodels/submodel_0001':
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# done(Exception("TEST EXCEPTION!" + self.project_path))
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# elif self.project_path == '/datasets/brighton/opensfm/submodels/submodel_0002':
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# done(NodeTaskLimitReachedException("Limit reached"))
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# elif self.project_path == '/datasets/brighton/opensfm/submodels/submodel_0003':
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# threading.Thread(target=test).start()
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# elif self.project_path == '/datasets/brighton/opensfm/submodels/submodel_0004':
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# threading.Thread(target=test).start()
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# else:
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# print("Process remote: " + self.project_path)
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# done()
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