OpenDroneMap-ODM/stages/mve.py

102 wiersze
4.5 KiB
Python

import shutil, os, glob, math
from opendm import log
from opendm import io
from opendm import system
from opendm import context
from opendm import point_cloud
from opendm import types
from opendm.osfm import OSFMContext
class ODMMveStage(types.ODM_Stage):
def process(self, args, outputs):
# get inputs
tree = outputs['tree']
reconstruction = outputs['reconstruction']
photos = reconstruction.photos
if not photos:
log.ODM_ERROR('Not enough photos in photos array to start MVE')
exit(1)
# check if reconstruction was done before
if not io.file_exists(tree.mve_model) or self.rerun():
# mve makescene wants the output directory
# to not exists before executing it (otherwise it
# will prompt the user for confirmation)
if io.dir_exists(tree.mve):
shutil.rmtree(tree.mve)
# run mve makescene
if not io.dir_exists(tree.mve_views):
nvm_file = tree.opensfm_reconstruction_nvm
if reconstruction.multi_camera:
# Reconstruct only the primary band
primary = reconstruction.multi_camera[0]
nvm_file = os.path.join(tree.opensfm, "undistorted", "reconstruction_%s.nvm" % primary['name'].lower())
system.run('%s "%s" "%s"' % (context.makescene_path, nvm_file, tree.mve), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
self.update_progress(10)
# Compute mve output scale based on depthmap_resolution
max_pixels = args.depthmap_resolution * args.depthmap_resolution
if outputs['undist_image_max_size'] * outputs['undist_image_max_size'] <= max_pixels:
mve_output_scale = 0
else:
ratio = float(outputs['undist_image_max_size'] * outputs['undist_image_max_size']) / float(max_pixels)
mve_output_scale = int(math.ceil(math.log(ratio) / math.log(4.0)))
dmrecon_config = [
"-s%s" % mve_output_scale,
"--progress=fancy",
"--local-neighbors=2",
# "--filter-width=3",
]
# Run MVE's dmrecon
log.ODM_INFO("Running dense reconstruction. This might take a while.")
# TODO: find out why MVE is crashing at random
# MVE *seems* to have a race condition, triggered randomly, regardless of dataset
# https://gist.github.com/pierotofy/6c9ce93194ba510b61e42e3698cfbb89
# Temporary workaround is to retry the reconstruction until we get it right
# (up to a certain number of retries).
retry_count = 1
while retry_count < 10:
try:
system.run('%s %s "%s"' % (context.dmrecon_path, ' '.join(dmrecon_config), tree.mve), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
break
except Exception as e:
if str(e) == "Child returned 134" or str(e) == "Child returned 1":
retry_count += 1
log.ODM_WARNING("Caught error code, retrying attempt #%s" % retry_count)
else:
raise e
self.update_progress(90)
scene2pset_config = [
"-F%s" % mve_output_scale
]
# run scene2pset
system.run('%s %s "%s" "%s"' % (context.scene2pset_path, ' '.join(scene2pset_config), tree.mve, tree.mve_model), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
# run cleanmesh (filter points by MVE confidence threshold)
if args.mve_confidence > 0:
mve_filtered_model = io.related_file_path(tree.mve_model, postfix=".filtered")
system.run('%s -t%s --no-clean --component-size=0 "%s" "%s"' % (context.meshclean_path, min(1.0, args.mve_confidence), tree.mve_model, mve_filtered_model), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
if io.file_exists(mve_filtered_model):
os.remove(tree.mve_model)
os.rename(mve_filtered_model, tree.mve_model)
else:
log.ODM_WARNING("Couldn't filter MVE model (%s does not exist)." % mve_filtered_model)
if args.optimize_disk_space:
shutil.rmtree(tree.mve_views)
else:
log.ODM_WARNING('Found a valid MVE reconstruction file in: %s' %
tree.mve_model)