kopia lustrzana https://github.com/OpenDroneMap/ODM
Merge pull request #1362 from pierotofy/gpuomvs
GPU-enabled Point Cloud Densification (OpenMVS)pull/1374/head
Piero Toffanin
GitHub
commit
b69f5ef26b
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@ -22,6 +22,10 @@ jobs:
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uses: ilammy/msvc-dev-cmd@v1
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with:
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arch: x64
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- uses: Jimver/cuda-toolkit@v0.2.4
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id: cuda-toolkit
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with:
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cuda: '11.2.2'
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- name: Extract code signing cert
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id: code_sign
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uses: timheuer/base64-to-file@v1
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@ -23,7 +23,7 @@ ExternalProject_Add(${_proj_name}
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-DADDITIONAL_LINK_DIRECTORIES_PATHS=${SB_INSTALL_DIR}/lib
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-DWITH_TESTS=OFF
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-DWITH_ZSTD=OFF
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-DCMAKE_BUILD_TYPE=Release
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-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
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-DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
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#--Build step-----------------
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BINARY_DIR ${_SB_BINARY_DIR}
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@ -15,7 +15,7 @@ ExternalProject_Add(${_proj_name}
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SOURCE_DIR ${SB_SOURCE_DIR}/${_proj_name}
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CMAKE_ARGS
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-DCMAKE_POSITION_INDEPENDENT_CODE=ON
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-DCMAKE_BUILD_TYPE:STRING=Release
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-DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
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-DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
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#--Build step-----------------
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BINARY_DIR ${_SB_BINARY_DIR}
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@ -16,7 +16,7 @@ ExternalProject_Add(${_proj_name}
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SOURCE_DIR ${SB_SOURCE_DIR}/${_proj_name}
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CMAKE_ARGS
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-DRESEARCH=OFF
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-DCMAKE_BUILD_TYPE:STRING=Release
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-DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
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-DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
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${WIN32_CMAKE_ARGS}
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#--Build step-----------------
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@ -57,7 +57,7 @@ ExternalProject_Add(${_proj_name}
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-DBUILD_opencv_ts=OFF
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-DBUILD_opencv_xfeatures2d=ON
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-DOPENCV_ALLOCATOR_STATS_COUNTER_TYPE=int64_t
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-DCMAKE_BUILD_TYPE:STRING=Release
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-DCMAKE_BUILD_TYPE:STRING=${CMAKE_BUILD_TYPE}
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-DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
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${WIN32_CMAKE_ARGS}
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${WIN32_CMAKE_EXTRA_ARGS}
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@ -12,20 +12,38 @@ externalproject_add(vcg
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INSTALL_COMMAND ""
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)
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externalproject_add(eigen34
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GIT_REPOSITORY https://gitlab.com/libeigen/eigen.git
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GIT_TAG 3.4
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UPDATE_COMMAND ""
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SOURCE_DIR ${SB_SOURCE_DIR}/eigen34
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CONFIGURE_COMMAND ""
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BUILD_IN_SOURCE 1
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BUILD_COMMAND ""
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INSTALL_COMMAND ""
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)
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SET(ARM64_CMAKE_ARGS "")
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if(${CMAKE_SYSTEM_PROCESSOR} STREQUAL "aarch64" )
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SET(ARM64_CMAKE_ARGS -DOpenMVS_USE_SSE=OFF)
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endif()
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SET(GPU_CMAKE_ARGS "")
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if(UNIX)
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if (EXISTS "/usr/local/cuda/lib64/stubs")
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SET(GPU_CMAKE_ARGS -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs)
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endif()
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endif()
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ExternalProject_Add(${_proj_name}
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DEPENDS ceres opencv vcg
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DEPENDS ceres opencv vcg eigen34
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PREFIX ${_SB_BINARY_DIR}
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TMP_DIR ${_SB_BINARY_DIR}/tmp
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STAMP_DIR ${_SB_BINARY_DIR}/stamp
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#--Download step--------------
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DOWNLOAD_DIR ${SB_DOWNLOAD_DIR}
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GIT_REPOSITORY https://github.com/OpenDroneMap/openMVS
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GIT_TAG 256
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GIT_TAG 267
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#--Update/Patch step----------
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UPDATE_COMMAND ""
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#--Configure step-------------
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@ -33,8 +51,11 @@ ExternalProject_Add(${_proj_name}
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CMAKE_ARGS
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-DOpenCV_DIR=${SB_INSTALL_DIR}/lib/cmake/opencv4
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-DVCG_ROOT=${SB_SOURCE_DIR}/vcg
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-DCMAKE_BUILD_TYPE=Release
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-DEIGEN3_INCLUDE_DIR=${SB_SOURCE_DIR}/eigen34/
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-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
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-DCMAKE_INSTALL_PREFIX=${SB_INSTALL_DIR}
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-DOpenMVS_MAX_CUDA_COMPATIBILITY=ON
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${GPU_CMAKE_ARGS}
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${WIN32_CMAKE_ARGS}
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${ARM64_CMAKE_ARGS}
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#--Build step-----------------
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@ -39,7 +39,7 @@ ExternalProject_Add(${_proj_name}
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-DWITH_LIBUSB=OFF
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-DWITH_PCAP=OFF
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-DWITH_PXCAPI=OFF
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-DCMAKE_BUILD_TYPE=Release
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-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
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-DPCL_VERBOSITY_LEVEL=Error
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-DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
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-DPCL_BUILD_WITH_FLANN_DYNAMIC_LINKING_WIN32=ON
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@ -45,7 +45,7 @@ ExternalProject_Add(${_proj_name}
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-DLASZIP_INCLUDE_DIR=${SB_INSTALL_DIR}/include
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-DLASZIP_LIBRARY=${LASZIP_LIB}
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-DWITH_TESTS=OFF
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-DCMAKE_BUILD_TYPE=Release
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-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
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-DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
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${WIN32_CMAKE_ARGS}
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${WIN32_GDAL_ARGS}
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@ -16,7 +16,7 @@ ExternalProject_Add(${_proj_name}
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SOURCE_DIR ${SB_SOURCE_DIR}/${_proj_name}
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CMAKE_ARGS
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-DPDAL_DIR=${SB_INSTALL_DIR}/lib/cmake/PDAL
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-DCMAKE_BUILD_TYPE=Release
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-DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE}
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-DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
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#--Build step-----------------
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BINARY_DIR ${_SB_BINARY_DIR}
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2
VERSION
2
VERSION
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@ -1 +1 @@
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2.6.6
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2.6.7
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@ -1,4 +1,4 @@
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FROM nvidia/cuda:11.2.0-runtime-ubuntu20.04 AS builder
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FROM nvidia/cuda:11.2.0-devel-ubuntu20.04 AS builder
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# Env variables
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ENV DEBIAN_FRONTEND=noninteractive \
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@ -22,6 +22,7 @@ RUN bash configure.sh clean
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### Use a second image for the final asset to reduce the number and
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# size of the layers.
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FROM nvidia/cuda:11.2.0-runtime-ubuntu20.04
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#FROM nvidia/cuda:11.2.0-devel-ubuntu20.04
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# Env variables
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ENV DEBIAN_FRONTEND=noninteractive \
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@ -133,7 +133,7 @@ def config(argv=None, parser=None):
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metavar='<string>',
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action=StoreValue,
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default='sift',
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choices=['sift', 'orb', 'hahog'],
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choices=['akaze', 'hahog', 'orb', 'sift'],
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help=('Choose the algorithm for extracting keypoints and computing descriptors. '
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'Can be one of: %(choices)s. Default: '
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'%(default)s'))
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@ -151,8 +151,8 @@ def config(argv=None, parser=None):
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metavar='<string>',
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action=StoreValue,
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default='flann',
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choices=['flann', 'bow'],
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help=('Matcher algorithm, Fast Library for Approximate Nearest Neighbors or Bag of Words. FLANN is slower, but more stable. BOW is faster, but can sometimes miss valid matches. '
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choices=['bow', 'bruteforce', 'flann'],
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help=('Matcher algorithm, Fast Library for Approximate Nearest Neighbors or Bag of Words. FLANN is slower, but more stable. BOW is faster, but can sometimes miss valid matches. BRUTEFORCE is very slow but robust.'
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'Can be one of: %(choices)s. Default: '
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'%(default)s'))
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@ -16,7 +16,10 @@ class GCPFile:
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if self.exists():
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with open(self.gcp_path, 'r') as f:
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contents = f.read().strip()
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# Strip eventual BOM characters
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contents = contents.replace('\ufeff', '')
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lines = list(map(str.strip, contents.split('\n')))
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if lines:
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self.raw_srs = lines[0] # SRS
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@ -2,9 +2,12 @@ import os
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from opendm import log
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from repoze.lru import lru_cache
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def gpu_disabled_by_user():
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return bool(os.environ.get('ODM_NO_GPU'))
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@lru_cache(maxsize=None)
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def has_gpus():
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if os.environ.get('ODM_NO_GPU'):
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if gpu_disabled_by_user():
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log.ODM_INFO("Disabling GPU features (ODM_NO_GPU is set)")
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return False
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@ -122,6 +122,7 @@ def parse_srs_header(header):
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log.ODM_INFO('Parsing SRS header: %s' % header)
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header = header.strip()
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ref = header.split(' ')
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try:
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if ref[0] == 'WGS84' and ref[1] == 'UTM':
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datum = ref[0]
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@ -117,9 +117,6 @@ class OSFMContext:
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except Exception as e:
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log.ODM_WARNING("Cannot set camera_models_overrides.json: %s" % str(e))
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use_bow = args.matcher_type == "bow"
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feature_type = "SIFT"
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# GPSDOP override if we have GPS accuracy information (such as RTK)
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if 'gps_accuracy_is_set' in args:
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log.ODM_INFO("Forcing GPS DOP to %s for all images" % args.gps_accuracy)
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@ -208,22 +205,29 @@ class OSFMContext:
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if args.camera_lens != 'auto':
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config.append("camera_projection_type: %s" % args.camera_lens.upper())
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if not has_gps:
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log.ODM_INFO("No GPS information, using BOW matching")
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use_bow = True
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matcher_type = args.matcher_type
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feature_type = args.feature_type.upper()
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if use_bow:
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config.append("matcher_type: WORDS")
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osfm_matchers = {
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"bow": "WORDS",
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"flann": "FLANN",
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"bruteforce": "BRUTEFORCE"
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}
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# Cannot use SIFT with BOW
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if feature_type == "SIFT":
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if not has_gps and not 'matcher_type_is_set' in args:
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log.ODM_INFO("No GPS information, using BOW matching by default (you can override this by setting --matcher-type explicitly)")
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matcher_type = "bow"
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if matcher_type == "bow":
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# Cannot use anything other than HAHOG with BOW
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if feature_type != "HAHOG":
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log.ODM_WARNING("Using BOW matching, will use HAHOG feature type, not SIFT")
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feature_type = "HAHOG"
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config.append("matcher_type: %s" % osfm_matchers[matcher_type])
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# GPU acceleration?
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if has_gpus() and feature_type == "SIFT":
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if has_gpus() and feature_type == "SIFT" and (not 'min_num_features_is_set' in args):
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log.ODM_INFO("Using GPU for extracting SIFT features")
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log.ODM_INFO("--min-num-features will be ignored")
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feature_type = "SIFT_GPU"
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@ -341,6 +341,10 @@ class Task:
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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 GEO (optional)
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if os.path.exists(self.path("geo.txt")):
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images.append(self.path("geo.txt"))
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# Add seed file
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images.append(seed_file)
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@ -25,7 +25,6 @@ class ODM_Reconstruction(object):
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self.photos = photos
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self.georef = None
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self.gcp = None
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self.geo_file = None
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self.multi_camera = self.detect_multi_camera()
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def detect_multi_camera(self):
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@ -115,7 +115,7 @@ class ODMLoadDatasetStage(types.ODM_Stage):
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dataset_list.write(photos[-1].filename + '\n')
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# Check if a geo file is available
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if tree.odm_geo_file is not None and os.path.exists(tree.odm_geo_file):
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if tree.odm_geo_file is not None and os.path.isfile(tree.odm_geo_file):
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log.ODM_INFO("Found image geolocation file")
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gf = GeoFile(tree.odm_geo_file)
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updated = 0
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@ -6,6 +6,7 @@ from opendm import system
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from opendm import context
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from opendm import point_cloud
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from opendm import types
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from opendm.gpu import gpu_disabled_by_user
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from opendm.utils import get_depthmap_resolution
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from opendm.osfm import OSFMContext
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from opendm.multispectral import get_primary_band_name
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@ -62,7 +63,7 @@ class ODMOpenMVSStage(types.ODM_Stage):
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config = [
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" --resolution-level %s" % int(resolution_level),
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"--min-resolution %s" % depthmap_resolution,
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"--min-resolution %s" % depthmap_resolution,
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"--max-resolution %s" % int(outputs['undist_image_max_size']),
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"--max-threads %s" % args.max_concurrency,
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"--number-views-fuse 2",
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@ -70,6 +71,9 @@ class ODMOpenMVSStage(types.ODM_Stage):
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"-v 0"
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]
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if gpu_disabled_by_user():
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config.append("--cuda-device -1")
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if args.pc_tile:
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config.append("--fusion-mode 1")
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@ -89,7 +89,13 @@ class ODMSplitStage(types.ODM_Stage):
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io.copy(submodel_gcp_file, os.path.abspath(sp_octx.path("gcp_list.txt")))
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else:
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log.ODM_INFO("No GCP will be copied for %s, not enough images in the submodel are referenced by the GCP" % sp_octx.name())
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# Copy GEO file if needed (one for each submodel project directory)
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if tree.odm_geo_file is not None and os.path.isfile(tree.odm_geo_file):
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geo_dst_path = os.path.abspath(sp_octx.path("..", "geo.txt"))
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io.copy(tree.odm_geo_file, geo_dst_path)
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log.ODM_INFO("Copied GEO file to %s" % geo_dst_path)
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# Reconstruct each submodel
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log.ODM_INFO("Dataset has been split into %s submodels. Reconstructing each submodel..." % len(submodel_paths))
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self.update_progress(25)
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@ -23,6 +23,7 @@ if [ "$1" = "--setup" ]; then
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echo "Adding $2 to /etc/shadow"
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echo "$2:x:14871::::::" >> /etc/shadow
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echo "$2 ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
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echo "odm ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
|
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echo "echo '' && echo '' && echo '' && echo '###################################' && echo 'ODM Dev Environment Ready. Hack on!' && echo '###################################' && echo '' && cd /code" > $HOME/.bashrc
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# Install qt creator
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@ -81,12 +82,20 @@ fi
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if hash docker 2>/dev/null; then
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has_docker="YES"
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fi
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if hash nvidia-smi 2>/dev/null; then
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has_nvidia_smi="YES"
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fi
|
||||
|
||||
|
||||
if [ "$has_docker" != "YES" ]; then
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echo "You need to install docker before running this script."
|
||||
exit 1
|
||||
fi
|
||||
|
||||
IMAGE_SET=NO
|
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if [[ ! -z $IMAGE ]]; then
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IMAGE_SET=YES
|
||||
fi
|
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export PORT="${PORT:=3000}"
|
||||
export QTC="${QTC:=NO}"
|
||||
export IMAGE="${IMAGE:=opendronemap/nodeodm}"
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@ -119,11 +128,18 @@ fi
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USER_ID=$(id -u)
|
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GROUP_ID=$(id -g)
|
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USER=$(id -un)
|
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GPU_FLAG=""
|
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GPU_FLAGS=""
|
||||
if [[ "$GPU" != "NO" ]]; then
|
||||
GPU_FLAG="--gpus all"
|
||||
if [[ "$IMAGE_SET" = "NO" ]]; then
|
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IMAGE="$IMAGE:gpu"
|
||||
fi
|
||||
|
||||
GPU_FLAGS="--gpus all"
|
||||
if [[ "$has_nvidia_smi" = "YES" ]]; then
|
||||
GPU_FLAGS="$GPU_FLAGS --device /dev/nvidia0 --device /dev/nvidia-uvm --device /dev/nvidia-uvm-tools --device /dev/nvidia-modeset --device /dev/nvidiactl"
|
||||
fi
|
||||
fi
|
||||
|
||||
xhost + || true
|
||||
docker run -ti --entrypoint bash --name odmdev -v $(pwd):/code -v "$DATA":/datasets -p $PORT:3000 $GPU_FLAG --privileged -e DISPLAY -e LANG=C.UTF-8 -e LC_ALL=C.UTF-8 -v="/tmp/.X11-unix:/tmp/.X11-unix:rw" -v="$HOME/.odm-dev-home:/home/$USER" $IMAGE -c "/code/start-dev-env.sh --setup $USER $USER_ID $GROUP_ID $QTC"
|
||||
docker run -ti --entrypoint bash --name odmdev --user root -v $(pwd):/code -v "$DATA":/datasets -p $PORT:3000 $GPU_FLAGS --privileged -e DISPLAY -e LANG=C.UTF-8 -e LC_ALL=C.UTF-8 -v="/tmp/.X11-unix:/tmp/.X11-unix:rw" -v="$HOME/.odm-dev-home:/home/$USER" $IMAGE -c "/code/start-dev-env.sh --setup $USER $USER_ID $GROUP_ID $QTC"
|
||||
exit 0
|
||||
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|
|||
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Reference in New Issue