Merge branch 'master' of https://github.com/OpenDroneMap/ODM into add-video2dataset

.github/workflows/publish-windows.yml

@@ -53,7 +53,7 @@ jobs:
       if: startsWith(github.ref, 'refs/tags/')
       with:
         repo_token: ${{ secrets.GITHUB_TOKEN }}
-        file: dist\*.exe
+        file: dist/*.exe
         file_glob: true
         tag: ${{ github.ref }}
         overwrite: true

Dockerfile

@@ -29,7 +29,8 @@ FROM ubuntu:21.04
 # Env variables
 ENV DEBIAN_FRONTEND=noninteractive \
     PYTHONPATH="$PYTHONPATH:/code/SuperBuild/install/lib/python3.9:/code/SuperBuild/install/lib/python3.8/dist-packages:/code/SuperBuild/install/bin/opensfm" \
-    LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/code/SuperBuild/install/lib"
+    LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/code/SuperBuild/install/lib" \
+    PDAL_DRIVER_PATH="/code/SuperBuild/install/bin"
 
 WORKDIR /code
 

SuperBuild/cmake/External-OpenSfM.cmake

@@ -25,7 +25,7 @@ ExternalProject_Add(${_proj_name}
   #--Download step--------------
   DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
   GIT_REPOSITORY    https://github.com/OpenDroneMap/OpenSfM/
-  GIT_TAG           302
+  GIT_TAG           303
   #--Update/Patch step----------
   UPDATE_COMMAND    git submodule update --init --recursive
   #--Configure step-------------

VERSION

@@ -1 +1 @@
-3.0.2
+3.0.3

gpu.Dockerfile

@@ -27,7 +27,8 @@ FROM nvidia/cuda:11.2.0-runtime-ubuntu20.04
 # Env variables
 ENV DEBIAN_FRONTEND=noninteractive \
     PYTHONPATH="$PYTHONPATH:/code/SuperBuild/install/lib/python3.9/dist-packages:/code/SuperBuild/install/lib/python3.8/dist-packages:/code/SuperBuild/install/bin/opensfm" \
-    LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/code/SuperBuild/install/lib"
+    LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/code/SuperBuild/install/lib" \
+    PDAL_DRIVER_PATH="/code/SuperBuild/install/bin"
 
 WORKDIR /code
 

innosetup.iss

@@ -43,6 +43,7 @@ Source: "licenses\*"; DestDir: "{app}\licenses"; Flags: ignoreversion recursesub
 Source: "opendm\*"; DestDir: "{app}\opendm"; Excludes: "__pycache__"; Flags: ignoreversion recursesubdirs createallsubdirs
 Source: "stages\*"; DestDir: "{app}\stages"; Excludes: "__pycache__"; Flags: ignoreversion recursesubdirs createallsubdirs
 Source: "SuperBuild\install\bin\*"; DestDir: "{app}\SuperBuild\install\bin"; Excludes: "__pycache__"; Flags: ignoreversion recursesubdirs createallsubdirs
+Source: "SuperBuild\install\lib\python3.8\*"; DestDir: "{app}\SuperBuild\install\lib\python3.8\*"; Excludes: "__pycache__"; Flags: ignoreversion recursesubdirs createallsubdirs
 Source: "venv\*"; DestDir: "{app}\venv"; Excludes: "__pycache__,pyvenv.cfg"; Flags: ignoreversion recursesubdirs createallsubdirs
 Source: "python38\*"; DestDir: "{app}\python38"; Excludes: "__pycache__"; Flags: ignoreversion recursesubdirs createallsubdirs
 Source: "console.bat"; DestDir: "{app}"; Flags: ignoreversion

opendm/config.py

@@ -389,6 +389,13 @@ def config(argv=None, parser=None):
                         help='Filters the point cloud by keeping only a single point around a radius N (in meters). This can be useful to limit the output resolution of the point cloud and remove duplicate points. Set to 0 to disable sampling. '
                              'Default: %(default)s')
 
+    parser.add_argument('--pc-skip-geometric',
+                        action=StoreTrue,
+                        nargs=0,
+                        default=False,
+                        help='Geometric estimates improve the accuracy of the point cloud by computing geometrically consistent depthmaps but may not be usable in larger datasets. This flag disables geometric estimates. '
+                             'Default: %(default)s')
+
     parser.add_argument('--pc-tile',
                         action=StoreTrue,
                         nargs=0,
@@ -447,6 +454,13 @@ def config(argv=None, parser=None):
                         help=('Keep faces in the mesh that are not seen in any camera. '
                               'Default:  %(default)s'))
 
+    parser.add_argument('--texturing-single-material',
+                        action=StoreTrue,
+                        nargs=0,
+                        default=False,
+                        help=('Generate OBJs that have a single material and a single texture file instead of multiple ones. '
+                              'Default:  %(default)s'))
+
     parser.add_argument('--gcp',
                         metavar='<path string>',
                         action=StoreValue,

opendm/dem/commands.py

@@ -56,11 +56,10 @@ def rectify(lasFile, debug=False, reclassify_threshold=5, min_area=750, min_poin
             reclassify_plan='median', reclassify_threshold=reclassify_threshold, \
             extend_plan='surrounding', extend_grid_distance=5, \
             min_area=min_area, min_points=min_points)
-
+        log.ODM_INFO('Created %s in %s' % (lasFile, datetime.now() - start))
     except Exception as e:
-        raise Exception("Error rectifying ground in file %s: %s" % (lasFile, str(e)))
+        log.ODM_WARNING("Error rectifying ground in file %s: %s" % (lasFile, str(e)))
 
-    log.ODM_INFO('Created %s in %s' % (lasFile, datetime.now() - start))
     return lasFile
 
 error = None

opendm/gpu.py

@@ -26,7 +26,7 @@ def has_popsift_and_can_handle_texsize(width, height):
         from opensfm import pypopsift
         fits = pypopsift.fits_texture(int(width * 1.02), int(height * 1.02))
         if not fits:
-            log.ODM_WARNING("Image size (%sx%spx) would not fit in GPU memory, falling back to CPU" % (width, height))
+            log.ODM_WARNING("Image size (%sx%spx) would not fit in GPU memory, try lowering --feature-quality. Falling back to CPU" % (width, height))
         return fits
     except (ModuleNotFoundError, ImportError):
         return False

opendm/objpacker/__init__.py

@@ -0,0 +1 @@
+from .objpacker import obj_pack

opendm/objpacker/imagepacker/__init__.py

@@ -0,0 +1 @@
+from .imagepacker import pack

opendm/objpacker/imagepacker/imagepacker.py

@@ -0,0 +1,239 @@
+#! /usr/bin/python
+
+# The MIT License (MIT)
+
+# Copyright (c) 2015 Luke Gaynor
+
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+import rasterio
+import numpy as np
+import math
+
+# Based off of the great writeup, demo and code at:
+# http://codeincomplete.com/posts/2011/5/7/bin_packing/
+
+class Block():
+    """A rectangular block, to be packed"""
+    def __init__(self, w, h, data=None, padding=0):
+        self.w = w
+        self.h = h
+        self.x = None
+        self.y = None
+        self.fit = None
+        self.data = data
+        self.padding = padding # not implemented yet
+
+    def __str__(self):
+        return "({x},{y}) ({w}x{h}): {data}".format(
+            x=self.x,y=self.y, w=self.w,h=self.h, data=self.data)
+
+
+class _BlockNode():
+    """A BlockPacker node"""
+    def __init__(self, x, y, w, h, used=False, right=None, down=None):
+        self.x = x
+        self.y = y
+        self.w = w
+        self.h = h
+        self.used = used
+        self.right = right
+        self.down = down
+
+    def __repr__(self):
+        return "({x},{y}) ({w}x{h})".format(x=self.x,y=self.y,w=self.w,h=self.h)
+
+
+class BlockPacker():
+    """Packs blocks of varying sizes into a single, larger block"""
+    def __init__(self):
+        self.root = None
+
+    def fit(self, blocks):
+        nblocks = len(blocks)
+        w = blocks[0].w# if nblocks > 0 else 0
+        h = blocks[0].h# if nblocks > 0 else 0
+
+        self.root = _BlockNode(0,0, w,h)
+
+        for block in blocks:
+            node = self.find_node(self.root, block.w, block.h)
+            if node:
+                # print("split")
+                node_fit = self.split_node(node, block.w, block.h)
+                block.x = node_fit.x
+                block.y = node_fit.y
+            else:
+                # print("grow")
+                node_fit = self.grow_node(block.w, block.h)
+                block.x = node_fit.x
+                block.y = node_fit.y
+
+    def find_node(self, root, w, h):
+        if root.used:
+            # raise Exception("used")
+            node = self.find_node(root.right, w, h)
+            if node:
+                return node
+            return self.find_node(root.down, w, h)
+        elif w <= root.w and h <= root.h:
+            return root
+        else:
+            return None
+
+    def split_node(self, node, w, h):
+        node.used = True
+        node.down = _BlockNode(
+            node.x, node.y + h,
+            node.w, node.h - h
+        )
+        node.right = _BlockNode(
+            node.x + w, node.y,
+            node.w - w, h
+        )
+        return node
+
+    def grow_node(self, w, h):
+        can_grow_down = w <= self.root.w
+        can_grow_right = h <= self.root.h
+
+        # try to keep the packing square
+        should_grow_right = can_grow_right and self.root.h >= (self.root.w + w)
+        should_grow_down = can_grow_down and self.root.w >= (self.root.h + h)
+
+        if should_grow_right:
+            return self.grow_right(w, h)
+        elif should_grow_down:
+            return self.grow_down(w, h)
+        elif can_grow_right:
+            return self.grow_right(w, h)
+        elif can_grow_down:
+            return self.grow_down(w, h)
+        else:
+            raise Exception("no valid expansion avaliable!")
+
+    def grow_right(self, w, h):
+        old_root = self.root
+        self.root = _BlockNode(
+            0, 0,
+            old_root.w + w, old_root.h,
+            down=old_root,
+            right=_BlockNode(self.root.w, 0, w, self.root.h),
+            used=True
+        )
+
+        node = self.find_node(self.root, w, h)
+        if node:
+            return self.split_node(node, w, h)
+        else:
+            return None
+
+    def grow_down(self, w, h):
+        old_root = self.root
+        self.root = _BlockNode(
+            0, 0,
+            old_root.w, old_root.h + h,
+            down=_BlockNode(0, self.root.h, self.root.w, h),
+            right=old_root,
+            used=True
+        )
+
+        node = self.find_node(self.root, w, h)
+        if node:
+            return self.split_node(node, w, h)
+        else:
+            return None
+
+
+def crop_by_extents(image, extent):
+    if min(extent.min_x,extent.min_y) < 0 or max(extent.max_x,extent.max_y) > 1:
+        print("\tWARNING! UV Coordinates lying outside of [0:1] space!")
+    
+    _, h, w = image.shape
+    minx = max(math.floor(extent.min_x*w), 0)
+    miny = max(math.floor(extent.min_y*h), 0)
+    maxx = min(math.ceil(extent.max_x*w), w)
+    maxy = min(math.ceil(extent.max_y*h), h)
+
+    image = image[:, miny:maxy, minx:maxx]
+    delta_w = maxx - minx
+    delta_h = maxy - miny
+
+    # offset from origin x, y, horizontal scale, vertical scale
+    changes = (minx, miny, delta_w / w, delta_h / h)
+
+    return (image, changes)
+
+def pack(obj, background=(0,0,0,0), format="PNG", extents=None):
+    blocks = []
+    image_name_map = {}
+    profile = None
+
+    for mat in obj['materials']:
+        filename = obj['materials'][mat]
+
+        with rasterio.open(filename, 'r') as f:
+            profile = f.profile
+            image = f.read()
+
+        image = np.flip(image, axis=1)
+
+        changes = None
+        if extents and extents[mat]:
+            image, changes = crop_by_extents(image, extents[mat])
+            
+        image_name_map[filename] = image
+        _, h, w = image.shape
+
+        # using filename so we can pass back UV info without storing it in image
+        blocks.append(Block(w, h, data=(filename, mat, changes)))
+
+    # sort by width, descending (widest first)
+    blocks.sort(key=lambda block: -block.w)
+
+    packer = BlockPacker()
+    packer.fit(blocks)
+
+    # output_image = Image.new("RGBA", (packer.root.w, packer.root.h))
+    output_image = np.zeros((profile['count'], packer.root.h, packer.root.w), dtype=profile['dtype'])
+
+    uv_changes = {}
+    for block in blocks:
+        fname, mat, changes = block.data
+        image = image_name_map[fname]
+        _, im_h, im_w = image.shape
+
+        uv_changes[mat] = {
+            "offset": (
+                # should be in [0, 1] range
+                (block.x - (changes[0] if changes else 0))/output_image.shape[2],
+                # UV origin is bottom left, PIL assumes top left!
+                (block.y - (changes[1] if changes else 0))/output_image.shape[1]
+            ),
+
+            "aspect": (
+                ((1/changes[2]) if changes else 1) * (im_w/output_image.shape[2]),
+                ((1/changes[3]) if changes else 1) * (im_h/output_image.shape[1])
+            ),
+        }
+
+        output_image[:, block.y:block.y + im_h, block.x:block.x + im_w] = image
+    output_image = np.flip(output_image, axis=1)
+
+    return output_image, uv_changes, profile

opendm/objpacker/imagepacker/utils.py

@@ -0,0 +1,53 @@
+#! /usr/bin/python
+
+# The MIT License (MIT)
+
+# Copyright (c) 2015 Luke Gaynor
+
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+
+# The above copyright notice and this permission notice shall be included in all
+# copies or substantial portions of the Software.
+
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+# SOFTWARE.
+
+class AABB():
+    def __init__(self, min_x=None, min_y=None, max_x=None, max_y=None):
+        self.min_x = min_x
+        self.min_y = min_y
+        self.max_x = max_x
+        self.max_y = max_y
+
+    def add(self, x,y):
+        self.min_x = min(self.min_x, x) if self.min_x is not None else x
+        self.min_y = min(self.min_y, y) if self.min_y is not None else y
+        self.max_x = max(self.max_x, x) if self.max_x is not None else x
+        self.max_y = max(self.max_y, y) if self.max_y is not None else y
+
+    def uv_wrap(self):
+        return (self.max_x - self.min_x, self.max_y - self.min_y)
+
+    def tiling(self):
+        if self.min_x and self.max_x and self.min_y and self.max_y:
+            if self.min_x < 0 or self.min_y < 0 or self.max_x > 1 or self.max_y > 1:
+                return (self.max_x - self.min_x, self.max_y - self.min_y)
+        return None
+
+    def __repr__(self):
+        return "({},{}) ({},{})".format(
+            self.min_x,
+            self.min_y,
+            self.max_x,
+            self.max_y
+        )

opendm/objpacker/objpacker.py

@@ -0,0 +1,235 @@
+import os
+import rasterio
+import warnings
+import numpy as np
+try:
+    from .imagepacker.utils import AABB
+    from .imagepacker import pack
+except ImportError:
+    from imagepacker.utils import AABB
+    from imagepacker import pack
+
+warnings.filterwarnings("ignore", category=rasterio.errors.NotGeoreferencedWarning)
+
+def load_obj(obj_path, _info=print):
+    if not os.path.isfile(obj_path):
+        raise IOError("Cannot open %s" % obj_path)
+
+    obj_base_path = os.path.dirname(os.path.abspath(obj_path))
+    obj = {
+        'filename': os.path.basename(obj_path),
+        'root_dir': os.path.dirname(os.path.abspath(obj_path)),
+        'mtl_filenames': [],
+        'materials': {},
+    }
+    uvs = []
+
+    faces = {}
+    current_material = "_"
+
+    with open(obj_path) as f:
+        _info("Loading %s" % obj_path)
+
+        for line in f:
+            if line.startswith("mtllib "):
+                # Materials
+                mtl_file = "".join(line.split()[1:]).strip()
+                obj['materials'].update(load_mtl(mtl_file, obj_base_path, _info=_info))
+                obj['mtl_filenames'].append(mtl_file)
+            # elif line.startswith("v "):
+            #     # Vertices
+            #     vertices.append(list(map(float, line.split()[1:4])))
+            elif line.startswith("vt "):
+                # UVs
+                uvs.append(list(map(float, line.split()[1:3])))
+            # elif line.startswith("vn "):
+            #     normals.append(list(map(float, line.split()[1:4])))
+            elif line.startswith("usemtl "):
+                mtl_name = "".join(line.split()[1:]).strip()
+                if not mtl_name in obj['materials']:
+                    raise Exception("%s material is missing" % mtl_name)
+
+                current_material = mtl_name
+            elif line.startswith("f "):
+                if current_material not in faces:
+                    faces[current_material] = []
+
+                a,b,c = line.split()[1:]
+                at = int(a.split("/")[1])
+                bt = int(b.split("/")[1])
+                ct = int(c.split("/")[1])
+                faces[current_material].append((at - 1, bt - 1, ct - 1)) 
+
+    obj['uvs'] = np.array(uvs, dtype=np.float32)
+    obj['faces'] = faces
+
+    return obj
+
+def load_mtl(mtl_file, obj_base_path, _info=print):
+    mtl_file = os.path.join(obj_base_path, mtl_file)
+
+    if not os.path.isfile(mtl_file):
+        raise IOError("Cannot open %s" % mtl_file)
+
+    mats = {}
+    current_mtl = ""
+
+    with open(mtl_file) as f:
+        for line in f:
+            if line.startswith("newmtl "):
+                current_mtl = "".join(line.split()[1:]).strip()
+            elif line.startswith("map_Kd ") and current_mtl:
+                map_kd_filename = "".join(line.split()[1:]).strip()
+                map_kd = os.path.join(obj_base_path, map_kd_filename)
+                if not os.path.isfile(map_kd):
+                    raise IOError("Cannot open %s" % map_kd)
+
+                mats[current_mtl] = map_kd
+    return mats
+
+
+def write_obj_changes(obj_file, mtl_file, uv_changes, single_mat, output_dir, _info=print):
+    with open(obj_file) as f:
+        obj_lines = f.readlines()
+    
+    out_lines = []
+    uv_lines = []
+    current_material = None
+
+    printed_mtllib = False
+    printed_usemtl = False
+
+    _info("Transforming UV coordinates")
+
+    for line_idx, line in enumerate(obj_lines):
+        if line.startswith("mtllib"):
+            if not printed_mtllib:
+                out_lines.append("mtllib %s\n" % mtl_file)
+                printed_mtllib = True
+            else:
+                out_lines.append("# \n")
+        elif line.startswith("usemtl"):
+            if not printed_usemtl:
+                out_lines.append("usemtl %s\n" % single_mat)
+                printed_usemtl = True
+            else:
+                out_lines.append("# \n")
+            current_material = line[7:].strip()
+        elif line.startswith("vt"):
+            uv_lines.append(line_idx)
+            out_lines.append(line)
+        elif line.startswith("f"):
+            for v in line[2:].split():
+                parts = v.split("/")
+                if len(parts) >= 2 and parts[1]:
+                    uv_idx = int(parts[1]) - 1 # uv indexes start from 1
+                    uv_line_idx = uv_lines[uv_idx]
+                    uv_line = obj_lines[uv_line_idx][3:]
+                    uv = [float(uv.strip()) for uv in uv_line.split()]
+
+                    if current_material and current_material in uv_changes:
+                        changes = uv_changes[current_material]
+                        uv[0] = uv[0] * changes["aspect"][0] + changes["offset"][0]
+                        uv[1] = uv[1] * changes["aspect"][1] + changes["offset"][1]
+                        out_lines[uv_line_idx] = "vt %s %s\n" % (uv[0], uv[1])
+            out_lines.append(line)
+        else:
+            out_lines.append(line)
+
+    out_file = os.path.join(output_dir, os.path.basename(obj_file))
+    _info("Writing %s" % out_file)
+
+    with open(out_file, 'w') as f:
+        f.writelines(out_lines)
+
+def write_output_tex(img, profile, path, _info=print):
+    _, w, h = img.shape
+    profile['width'] = w
+    profile['height'] = h
+
+    if 'tiled' in profile:
+        profile['tiled'] = False
+
+    _info("Writing %s (%sx%s pixels)" % (path, w, h))
+    with rasterio.open(path, 'w', **profile) as dst:
+        for b in range(1, img.shape[0] + 1):
+            dst.write(img[b - 1], b)
+
+    sidecar = path + '.aux.xml'
+    if os.path.isfile(sidecar):
+        os.unlink(sidecar)
+
+def write_output_mtl(src_mtl, mat_file, dst_mtl):
+    with open(src_mtl, 'r') as src:
+        lines = src.readlines()
+
+    out = []
+    found_map = False
+    single_mat = None
+
+    for l in lines:
+        if l.startswith("newmtl"):
+            single_mat = "".join(l.split()[1:]).strip()
+            out.append(l)
+        elif l.startswith("map_Kd"):
+            out.append("map_Kd %s\n" % mat_file)
+            break
+        else:
+            out.append(l)
+    
+    with open(dst_mtl, 'w') as dst:
+        dst.write("".join(out))
+
+    if single_mat is None:
+        raise Exception("Could not find material name in file")
+
+    return single_mat
+
+def obj_pack(obj_file, output_dir=None, _info=print):
+    if not output_dir:
+        output_dir = os.path.join(os.path.dirname(os.path.abspath(obj_file)), "packed")
+    
+    obj = load_obj(obj_file, _info=_info)
+    if not obj['mtl_filenames']:
+        raise Exception("No MTL files found, nothing to do")
+
+    if os.path.abspath(obj_file) == os.path.abspath(os.path.join(output_dir, os.path.basename(obj_file))):
+        raise Exception("This will overwrite %s. Choose a different output directory" % obj_file)
+    
+    if len(obj['mtl_filenames']) <= 1 and len(obj['materials']) <= 1:
+        raise Exception("File already has a single material, nothing to do")
+        
+    # Compute AABB for UVs
+    _info("Computing texture bounds")
+    extents = {}
+    for material in obj['materials']:
+        bounds = AABB()
+
+        faces = obj['faces'][material]
+        for f in faces:
+            for uv_idx in f:
+                uv = obj['uvs'][uv_idx]
+                bounds.add(uv[0], uv[1])
+
+        extents[material] = bounds
+    
+    _info("Binary packing...")
+    output_image, uv_changes, profile = pack(obj, extents=extents)
+    mtl_file = obj['mtl_filenames'][0]
+    mat_file = os.path.basename(obj['materials'][next(iter(obj['materials']))])
+    
+    if not os.path.isdir(output_dir):
+        os.mkdir(output_dir)
+    
+    write_output_tex(output_image, profile, os.path.join(output_dir, mat_file), _info=_info)
+    single_mat = write_output_mtl(os.path.join(obj['root_dir'], mtl_file), mat_file, os.path.join(output_dir, mtl_file))
+    write_obj_changes(obj_file, mtl_file, uv_changes, single_mat, output_dir, _info=_info)
+
+if __name__ == '__main__':
+    import argparse
+    parser = argparse.ArgumentParser(description="Packs textured .OBJ Wavefront files into a single materials")
+    parser.add_argument("obj", help="Path to the .OBJ file")
+    parser.add_argument("-o","--output-dir", help="Output directory")
+    args = parser.parse_args()
+
+    obj_pack(args.obj, args.output_dir)

opendm/orthophoto.py

@@ -216,8 +216,8 @@ def merge(input_ortho_and_ortho_cuts, output_orthophoto, orthophoto_vars={}):
         left, bottom, right, top = src.bounds
         xs.extend([left, right])
         ys.extend([bottom, top])
-        if src.profile["count"] < 4:
-            raise ValueError("Inputs must be at least 4-band rasters")
+        if src.profile["count"] < 2:
+            raise ValueError("Inputs must be at least 2-band rasters")
     dst_w, dst_s, dst_e, dst_n = min(xs), min(ys), max(xs), max(ys)
     log.ODM_INFO("Output bounds: %r %r %r %r" % (dst_w, dst_s, dst_e, dst_n))
 

opendm/rollingshutter.py

@@ -12,9 +12,11 @@ RS_DATABASE = {
     'dji fc6310': 33, # Phantom 4 Professional
 
     'dji fc7203': 20, # Mavic Mini v1
+    'dji fc2103': 32, # DJI Mavic Air 1
     'dji fc3170': 27, # DJI Mavic Air 2
     'dji fc3411': 32, # DJI Mavic Air 2S
     
+    'dji fc220': 64, # DJI Mavic Pro (Platinum)
     'hasselblad l1d-20c': lambda p: 47 if p.get_capture_megapixels() < 17 else 56, # DJI Mavic 2 Pro (at 16:10 => 16.8MP 47ms, at 3:2 => 19.9MP 56ms. 4:3 has 17.7MP with same image height as 3:2 which can be concluded as same sensor readout)
 
     'dji fc3582': lambda p: 26 if p.get_capture_megapixels() < 48 else 60, # DJI Mini 3 pro (at 48MP readout is 60ms, at 12MP it's 26ms) 

opendm/system.py

@@ -7,6 +7,7 @@ import subprocess
 import string
 import signal
 import io
+import shutil
 from collections import deque
 
 from opendm import context
@@ -144,3 +145,30 @@ def which(program):
         p=os.path.join(p,program)
         if os.path.exists(p) and os.access(p,os.X_OK):
             return p
+
+def link_file(src, dst):
+    if os.path.isdir(dst):
+        dst = os.path.join(dst, os.path.basename(src))
+
+    if not os.path.isfile(dst):
+        if sys.platform == 'win32':
+            os.link(src, dst)
+        else:
+            os.symlink(os.path.relpath(os.path.abspath(src), os.path.dirname(os.path.abspath(dst))), dst)
+
+def move_files(src, dst):
+    if not os.path.isdir(dst):
+        raise IOError("Not a directory: %s" % dst)
+
+    for f in os.listdir(src):
+        if os.path.isfile(os.path.join(src, f)):
+            shutil.move(os.path.join(src, f), dst)
+
+def delete_files(folder, exclude=()):
+    if not os.path.isdir(folder):
+        return
+
+    for f in os.listdir(folder):
+        if os.path.isfile(os.path.join(folder, f)):
+            if not exclude or not f.endswith(exclude):
+                os.unlink(os.path.join(folder, f))

opendm/types.py

@@ -113,7 +113,7 @@ class ODM_Reconstruction(object):
                 # Convert GCP file to a UTM projection since the rest of the pipeline
                 # does not handle other SRS well.
                 rejected_entries = []
-                utm_gcp = GCPFile(gcp.create_utm_copy(output_gcp_file, filenames=[p.filename for p in self.photos], rejected_entries=rejected_entries, include_extras=False))
+                utm_gcp = GCPFile(gcp.create_utm_copy(output_gcp_file, filenames=[p.filename for p in self.photos], rejected_entries=rejected_entries, include_extras=True))
                 
                 if not utm_gcp.exists():
                     raise RuntimeError("Could not project GCP file to UTM. Please double check your GCP file for mistakes.")

portable.Dockerfile

@@ -29,7 +29,8 @@ FROM ubuntu:21.04
 # Env variables
 ENV DEBIAN_FRONTEND=noninteractive \
     PYTHONPATH="$PYTHONPATH:/code/SuperBuild/install/lib/python3.9/dist-packages:/code/SuperBuild/install/lib/python3.8/dist-packages:/code/SuperBuild/install/bin/opensfm" \
-    LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/code/SuperBuild/install/lib"
+    LD_LIBRARY_PATH="$LD_LIBRARY_PATH:/code/SuperBuild/install/lib" \
+    PDAL_DRIVER_PATH="/code/SuperBuild/install/bin"
 
 WORKDIR /code
 

stages/mvstex.py

@@ -7,6 +7,7 @@ from opendm import context
 from opendm import types
 from opendm.multispectral import get_primary_band_name
 from opendm.photo import find_largest_photo_dim
+from opendm.objpacker import obj_pack
 
 class ODMMvsTexStage(types.ODM_Stage):
     def process(self, args, outputs):
@@ -129,6 +130,26 @@ class ODMMvsTexStage(types.ODM_Stage):
                         '{labelingFile} '
                         '{maxTextureSize} '.format(**kwargs))
                 
+                # Single material?
+                if args.texturing_single_material and r['primary'] and (not r['nadir'] or args.skip_3dmodel):
+                    log.ODM_INFO("Packing to single material")
+
+                    packed_dir = os.path.join(r['out_dir'], 'packed')
+                    if io.dir_exists(packed_dir):
+                        log.ODM_INFO("Removing old packed directory {}".format(packed_dir))
+                        shutil.rmtree(packed_dir)
+                    
+                    try:
+                        obj_pack(os.path.join(r['out_dir'], tree.odm_textured_model_obj), packed_dir, _info=log.ODM_INFO)
+                        
+                        # Move packed/* into texturing folder
+                        system.delete_files(r['out_dir'], (".vec", ))
+                        system.move_files(packed_dir, r['out_dir'])
+                        if os.path.isdir(packed_dir):
+                            os.rmdir(packed_dir)
+                    except Exception as e:
+                        log.ODM_WARNING(str(e))
+
                 # Backward compatibility: copy odm_textured_model_geo.mtl to odm_textured_model.mtl
                 # for certain older WebODM clients which expect a odm_textured_model.mtl
                 # to be present for visualization
@@ -137,7 +158,7 @@ class ODMMvsTexStage(types.ODM_Stage):
                 if io.file_exists(geo_mtl):
                     nongeo_mtl = os.path.join(r['out_dir'], 'odm_textured_model.mtl')
                     shutil.copy(geo_mtl, nongeo_mtl)
-                
+
                 progress += progress_per_run
                 self.update_progress(progress)
             else:

stages/odm_orthophoto.py

@@ -165,5 +165,5 @@ class ODMOrthoPhotoStage(types.ODM_Stage):
         else:
             log.ODM_WARNING('Found a valid orthophoto in: %s' % tree.odm_orthophoto_tif)
 
-        if args.optimize_disk_space and io.file_exists(tree.odm_orthophoto_render):
+        if io.file_exists(tree.odm_orthophoto_render):
             os.remove(tree.odm_orthophoto_render)

stages/openmvs.py

@@ -86,7 +86,10 @@ class ODMOpenMVSStage(types.ODM_Stage):
                 config.append("--fusion-mode 1")
 
             extra_config = []
-            
+
+            if args.pc_skip_geometric:
+                extra_config.append("--geometric-iters 0")
+
             masks_dir = os.path.join(tree.opensfm, "undistorted", "masks")
             masks = os.path.exists(masks_dir) and len(os.listdir(masks_dir)) > 0
             if masks:

stages/splitmerge.py

@@ -20,6 +20,7 @@ from opendm import point_cloud
 from opendm.utils import double_quote
 from opendm.tiles.tiler import generate_dem_tiles
 from opendm.cogeo import convert_to_cogeo
+from opendm import multispectral
 
 class ODMSplitStage(types.ODM_Stage):
     def process(self, args, outputs):
@@ -54,11 +55,13 @@ class ODMSplitStage(types.ODM_Stage):
                     log.ODM_INFO("Setting max-concurrency to %s to better handle remote splits" % args.max_concurrency)
 
                 log.ODM_INFO("Large dataset detected (%s photos) and split set at %s. Preparing split merge." % (len(photos), args.split))
+                multiplier = (1.0 / len(reconstruction.multi_camera)) if reconstruction.multi_camera else 1.0
+
                 config = [
                     "submodels_relpath: " + os.path.join("..", "submodels", "opensfm"),
                     "submodel_relpath_template: " + os.path.join("..", "submodels", "submodel_%04d", "opensfm"),
                     "submodel_images_relpath_template: " + os.path.join("..", "submodels", "submodel_%04d", "images"),
-                    "submodel_size: %s" % args.split,
+                    "submodel_size: %s" % max(2, int(float(args.split) * multiplier)),
                     "submodel_overlap: %s" % args.split_overlap,
                 ]
 
@@ -88,12 +91,12 @@ class ODMSplitStage(types.ODM_Stage):
 
                 for sp in submodel_paths:
                     sp_octx = OSFMContext(sp)
+                    submodel_images_dir = os.path.abspath(sp_octx.path("..", "images"))
 
                     # Copy filtered GCP file if needed
                     # One in OpenSfM's directory, one in the submodel project directory
                     if reconstruction.gcp and reconstruction.gcp.exists():
                         submodel_gcp_file = os.path.abspath(sp_octx.path("..", "gcp_list.txt"))
-                        submodel_images_dir = os.path.abspath(sp_octx.path("..", "images"))
 
                         if reconstruction.gcp.make_filtered_copy(submodel_gcp_file, submodel_images_dir):
                             log.ODM_INFO("Copied filtered GCP file to %s" % submodel_gcp_file)
@@ -107,6 +110,19 @@ class ODMSplitStage(types.ODM_Stage):
                         io.copy(tree.odm_geo_file, geo_dst_path)
                         log.ODM_INFO("Copied GEO file to %s" % geo_dst_path)
 
+                    # If this is a multispectral dataset,
+                    # we need to link the multispectral images
+                    if reconstruction.multi_camera:
+                        submodel_images = os.listdir(submodel_images_dir)
+                        
+                        primary_band_name = multispectral.get_primary_band_name(reconstruction.multi_camera, args.primary_band)
+                        _, p2s = multispectral.compute_band_maps(reconstruction.multi_camera, primary_band_name)
+                        for filename in p2s:
+                            if filename in submodel_images:
+                                secondary_band_photos = p2s[filename]
+                                for p in secondary_band_photos:
+                                    system.link_file(os.path.join(tree.dataset_raw, p.filename), submodel_images_dir)
+
                 # Reconstruct each submodel
                 log.ODM_INFO("Dataset has been split into %s submodels. Reconstructing each submodel..." % len(submodel_paths))
                 self.update_progress(25)

win32env.bat

@@ -14,6 +14,7 @@ set GDAL_DATA=%GDALBASE%\data\gdal
 set GDAL_DRIVER_PATH=%GDALBASE%\gdalplugins
 set OSFMBASE=%ODMBASE%SuperBuild\install\bin\opensfm\bin
 set SBBIN=%ODMBASE%SuperBuild\install\bin
+set PDAL_DRIVER_PATH=%ODMBASE%SuperBuild\install\bin
 
 set PATH=%GDALBASE%;%SBBIN%;%OSFMBASE%
 set PROJ_LIB=%GDALBASE%\data\proj