kopia lustrzana https://github.com/OpenDroneMap/ODM
Piero Toffanin
rodzic
47d5ed9b51
commit
bb27902f9d
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@ -7,7 +7,7 @@ from appsettings import SettingsParser
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import sys
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# parse arguments
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processopts = ['dataset', 'opensfm', 'slam', 'mve',
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processopts = ['dataset', 'opensfm', 'slam', 'mve', 'odm_filterpoints',
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'odm_meshing', 'odm_25dmeshing', 'mvs_texturing', 'odm_georeferencing',
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'odm_dem', 'odm_orthophoto']
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@ -24,10 +24,8 @@ orb_slam2_path = os.path.join(superbuild_path, "src/orb_slam2")
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# define mve join_paths
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makescene_path = os.path.join(superbuild_path, 'src', 'elibs', 'mve', 'apps', 'makescene', 'makescene') #TODO: don't install in source
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mve_path = os.path.join(superbuild_path, 'src', 'elibs', 'mve', 'apps', 'dmrecon', 'dmrecon')
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mve_path_pc = os.path.join(superbuild_path, 'src', 'elibs', 'mve', 'apps', 'scene2pset', 'scene2pset')
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pdal_path_pc = os.path.join(superbuild_path, 'install/bin/pdal')
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dmrecon_path = os.path.join(superbuild_path, 'src', 'elibs', 'mve', 'apps', 'dmrecon', 'dmrecon')
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scene2pset_path = os.path.join(superbuild_path, 'src', 'elibs', 'mve', 'apps', 'scene2pset', 'scene2pset')
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poisson_recon_path = os.path.join(superbuild_path, 'src', 'PoissonRecon', 'Bin', 'Linux', 'PoissonRecon')
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dem2mesh_path = os.path.join(superbuild_path, 'src', 'dem2mesh', 'dem2mesh')
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@ -1,11 +1,11 @@
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import os, sys
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import os, sys, shutil
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from opendm import system
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from opendm import log
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from opendm import context
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def filter(pointCloudPath, standard_deviation=2.5, meank=16, verbose=False):
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def filter(inputPointCloud, outputPointCloud, standard_deviation=2.5, meank=16, verbose=False):
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"""
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Filters a point cloud in place (it will replace the input file with the filtered result).
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Filters a point cloud
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"""
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if standard_deviation <= 0 or meank <= 0:
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log.ODM_INFO("Skipping point cloud filtering")
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@ -13,29 +13,20 @@ def filter(pointCloudPath, standard_deviation=2.5, meank=16, verbose=False):
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log.ODM_INFO("Filtering point cloud (statistical, meanK {}, standard deviation {})".format(meank, standard_deviation))
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if not os.path.exists(pointCloudPath):
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log.ODM_ERROR("{} does not exist, cannot filter point cloud. The program will now exit.".format(pointCloudPath))
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if not os.path.exists(inputPointCloud):
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log.ODM_ERROR("{} does not exist, cannot filter point cloud. The program will now exit.".format(inputPointCloud))
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sys.exit(1)
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filter_program = os.path.join(context.odm_modules_path, 'odm_filterpoints')
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if not os.path.exists(filter_program):
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log.ODM_WARNING("{} program not found. Will skip filtering, but this installation should be fixed.")
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shutil.copy(inputPointCloud, outputPointCloud)
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return
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pc_path, pc_filename = os.path.split(pointCloudPath)
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# pc_path = path/to
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# pc_filename = pointcloud.ply
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basename, ext = os.path.splitext(pc_filename)
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# basename = pointcloud
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# ext = .ply
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tmpPointCloud = os.path.join(pc_path, "{}.tmp{}".format(basename, ext))
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filterArgs = {
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'bin': filter_program,
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'inputFile': pointCloudPath,
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'outputFile': tmpPointCloud,
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'inputFile': inputPointCloud,
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'outputFile': outputPointCloud,
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'sd': standard_deviation,
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'meank': meank,
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'verbose': '--verbose' if verbose else '',
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@ -47,8 +38,5 @@ def filter(pointCloudPath, standard_deviation=2.5, meank=16, verbose=False):
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'-meank {meank} {verbose} '.format(**filterArgs))
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# Remove input file, swap temp file
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if os.path.exists(tmpPointCloud):
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os.remove(pointCloudPath)
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os.rename(tmpPointCloud, pointCloudPath)
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else:
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log.ODM_WARNING("{} not found, filtering has failed.".format(tmpPointCloud))
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if not os.path.exists(outputPointCloud):
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log.ODM_WARNING("{} not found, filtering has failed.".format(outputPointCloud))
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@ -252,8 +252,8 @@ class ODM_Tree(object):
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self.odm_25dtexturing = io.join_paths(self.root_path, 'odm_texturing_25d')
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self.odm_georeferencing = io.join_paths(self.root_path, 'odm_georeferencing')
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self.odm_25dgeoreferencing = io.join_paths(self.root_path, 'odm_25dgeoreferencing')
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self.odm_filterpoints = io.join_paths(self.root_path, 'odm_filterpoints')
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self.odm_orthophoto = io.join_paths(self.root_path, 'odm_orthophoto')
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self.odm_pdal = io.join_paths(self.root_path, 'pdal')
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# important files paths
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@ -278,6 +278,9 @@ class ODM_Tree(object):
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self.mve_bundle = io.join_paths(self.mve_path, 'bundle/bundle.out')
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self.mve_views = io.join_paths(self.mve, 'views')
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# filter points
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self.filtered_point_cloud = io.join_paths(self.odm_filterpoints, "point_cloud.ply")
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# odm_meshing
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self.odm_mesh = io.join_paths(self.odm_meshing, 'odm_mesh.ply')
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self.odm_meshing_log = io.join_paths(self.odm_meshing, 'odm_meshing_log.txt')
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@ -7,12 +7,6 @@ from opendm import context
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from opendm import point_cloud
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class ODMMveCell(ecto.Cell):
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def declare_params(self, params):
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params.declare("mve_output_scale", "scale of optimization", 2)
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params.declare("max_concurrency", "max number of threads", 3)
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# params.declare("mve_filter_range", "min confidence value", 0.5)
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def declare_io(self, params, inputs, outputs):
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inputs.declare("tree", "Struct with paths", [])
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inputs.declare("args", "The application arguments.", {})
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@ -20,7 +14,6 @@ class ODMMveCell(ecto.Cell):
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outputs.declare("reconstruction", "list of ODMReconstructions", [])
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def process(self, inputs, outputs):
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# Benchmarking
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start_time = system.now_raw()
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@ -66,32 +59,27 @@ class ODMMveCell(ecto.Cell):
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if not io.dir_exists(tree.mve_views):
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system.run('%s %s %s' % (context.makescene_path, tree.mve_path, tree.mve))
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#dmrecon config
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config = [
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dmrecon_config = [
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"-s%s" % args.mve_output_scale,
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#"-s%s" % args.max_concurrency,
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"--progress=silent"
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"--progress=silent"
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]
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#run dmrecon
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system.run('%s %s %s' % (context.mve_path, ' '.join(config), tree.mve))
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# Run MVE's dmrecon
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system.run('%s %s %s' % (context.dmrecon_path, ' '.join(dmrecon_config), tree.mve))
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#scene2pset config
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config = [
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"-F1",
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"--with-conf"
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]
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scene2pset_config = [
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"-F1",
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"--with-conf"
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]
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# run scene2pset
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system.run('%s %s %s %s' % (context.mve_path_pc, ' '.join(config), tree.mve, tree.mve_model))
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system.run('%s %s "%s" "%s"' % (context.scene2pset_path, ' '.join(scene2pset_config), tree.mve, tree.mve_model))
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# run pdal
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system.run('%s %s %s %s %s %s' % (context.pdal_path_pc, ' translate -i ', tree.mve_model, '-o ', tree.mve_model_output, ' -f range --filters.range.limits="confidence[0.25:1]"'))
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# run pdal
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system.run('pdal translate -i {} '
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' -o {} '
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' -f range --filters.range.limits="confidence[0.25:1]'.format(tree.mve_model, tree.mve_model_output))
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# find and rename the output file for simplicity
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mve_files = glob.glob(os.path.join(tree.mve, 'mve-*'))
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mve_files.sort(key=os.path.getmtime) # sort by last modified date
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@ -99,9 +87,6 @@ class ODMMveCell(ecto.Cell):
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old_file = mve_files[-1]
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if not (io.rename_file(old_file, tree.mve_model)):
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log.ODM_WARNING("File %s does not exist, cannot be renamed. " % old_file)
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# Filter
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point_cloud.filter(tree.mve_model_output, standard_deviation=args.pc_filter, verbose=args.verbose)
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else:
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log.ODM_WARNING("Cannot find a valid point cloud (mve-XX.ply) in %s. Check the console output for errors." % tree.mve)
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else:
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@ -15,6 +15,7 @@ from mvstex import ODMMvsTexCell
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from odm_georeferencing import ODMGeoreferencingCell
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from odm_orthophoto import ODMOrthoPhotoCell
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from odm_dem import ODMDEMCell
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from odm_filterpoints import ODMFilterPoints
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class ODMApp(ecto.BlackBox):
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@ -48,8 +49,9 @@ class ODMApp(ecto.BlackBox):
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hybrid_bundle_adjustment=p.args.use_hybrid_bundle_adjustment),
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'slam': ODMSlamCell(),
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'mve': ODMMveCell(mve_output_scale=p.args.mve_output_scale,
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max_concurrency=p.args.max_concurrency),
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'mve': ODMMveCell(),
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'filterpoints': ODMFilterPoints(),
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'meshing': ODMeshingCell(max_vertex=p.args.mesh_size,
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oct_tree=p.args.mesh_octree_depth,
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@ -96,13 +98,6 @@ class ODMApp(ecto.BlackBox):
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if p.args.video:
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return self.slam_connections(p)
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# define initial task
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# TODO: What is this?
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# initial_task = p.args['start_with']
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# initial_task_id = config.processopts.index(initial_task)
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# define the connections like you would for the plasm
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# load the dataset
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connections = [self.tree[:] >> self.dataset['tree'],
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self.args[:] >> self.dataset['args']]
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@ -113,21 +108,25 @@ class ODMApp(ecto.BlackBox):
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self.dataset['reconstruction'] >> self.opensfm['reconstruction']]
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if p.args.use_opensfm_dense or p.args.fast_orthophoto:
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# create odm mesh from opensfm point cloud
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connections += [self.tree[:] >> self.meshing['tree'],
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self.args[:] >> self.meshing['args'],
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self.opensfm['reconstruction'] >> self.meshing['reconstruction']]
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# filter points from opensfm point cloud
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connections += [self.tree[:] >> self.filterpoints['tree'],
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self.args[:] >> self.filterpoints['args'],
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self.opensfm['reconstruction'] >> self.filterpoints['reconstruction']]
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else:
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# run mve
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connections += [self.tree[:] >> self.mve['tree'],
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self.args[:] >> self.mve['args'],
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self.opensfm['reconstruction'] >> self.mve['reconstruction']]
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# create odm mesh from mve point cloud
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connections += [self.tree[:] >> self.meshing['tree'],
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self.args[:] >> self.meshing['args'],
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self.mve['reconstruction'] >> self.meshing['reconstruction']]
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# filter points from mve point cloud
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connections += [self.tree[:] >> self.filterpoints['tree'],
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self.args[:] >> self.filterpoints['args'],
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self.mve['reconstruction'] >> self.filterpoints['reconstruction']]
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# create mesh
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connections += [self.tree[:] >> self.meshing['tree'],
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self.args[:] >> self.meshing['args'],
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self.filterpoints['reconstruction'] >> self.meshing['reconstruction']]
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# create odm texture
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connections += [self.tree[:] >> self.texturing['tree'],
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@ -0,0 +1,56 @@
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import ecto, os
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from opendm import log
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from opendm import io
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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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class ODMFilterPoints(ecto.Cell):
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def declare_io(self, params, inputs, outputs):
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inputs.declare("tree", "Struct with paths", [])
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inputs.declare("args", "The application arguments.", {})
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inputs.declare("reconstruction", "ODMReconstruction", [])
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outputs.declare("reconstruction", "list of ODMReconstructions", [])
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def process(self, inputs, outputs):
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# Benchmarking
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start_time = system.now_raw()
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log.ODM_INFO('Running ODM FilterPoints Cell')
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# get inputs
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tree = inputs.tree
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args = inputs.args
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reconstruction = inputs.reconstruction
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# check if we rerun cell or not
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rerun_cell = (args.rerun is not None and
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args.rerun == 'odm_filterpoints') or \
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(args.rerun_all) or \
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(args.rerun_from is not None and
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'odm_filterpoints' in args.rerun_from)
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if not os.path.exists(tree.odm_filterpoints): system.mkdir_p(tree.odm_filterpoints)
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# check if reconstruction was done before
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if not io.file_exists(tree.filtered_point_cloud) or rerun_cell:
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if args.fast_orthophoto:
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inputPointCloud = os.path.join(tree.opensfm, 'reconstruction.ply')
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elif args.use_opensfm_dense:
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inputPointCloud = tree.opensfm_model
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else:
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inputPointCloud = tree.mve_model
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# TODO add MVE filter
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point_cloud.filter(inputPointCloud, tree.filtered_point_cloud, standard_deviation=args.pc_filter, verbose=args.verbose)
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else:
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log.ODM_WARNING('Found a valid point cloud file in: %s' %
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tree.filtered_point_cloud)
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outputs.reconstruction = reconstruction
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if args.time:
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system.benchmark(start_time, tree.benchmarking, 'MVE')
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log.ODM_INFO('Running ODM FilterPoints Cell - Finished')
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return ecto.OK if args.end_with != 'odm_filterpoints' else ecto.QUIT
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@ -83,6 +83,7 @@ class ODMGeoreferencingCell(ecto.Cell):
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# odm_georeference definitions
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kwargs = {
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'bin': context.odm_modules_path,
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'input_pc_file': tree.filtered_point_cloud,
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'bundle': tree.opensfm_bundle,
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'imgs': tree.dataset_raw,
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'imgs_list': tree.opensfm_bundle_list,
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@ -98,13 +99,6 @@ class ODMGeoreferencingCell(ecto.Cell):
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'verbose': verbose
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}
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if args.fast_orthophoto:
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kwargs['input_pc_file'] = os.path.join(tree.opensfm, 'reconstruction.ply')
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elif args.use_opensfm_dense:
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kwargs['input_pc_file'] = tree.opensfm_model
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else:
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kwargs['input_pc_file'] = tree.mve_model
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if transformPointCloud:
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kwargs['pc_params'] = '-inputPointCloudFile {input_pc_file} -outputPointCloudFile {output_pc_file}'.format(**kwargs)
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@ -49,18 +49,12 @@ class ODMeshingCell(ecto.Cell):
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(args.rerun_from is not None and
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'odm_meshing' in args.rerun_from)
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infile = tree.mve_model_output
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if args.fast_orthophoto:
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infile = os.path.join(tree.opensfm, 'reconstruction.ply')
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elif args.use_opensfm_dense:
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infile = tree.opensfm_model
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# Create full 3D model unless --skip-3dmodel is set
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if not args.skip_3dmodel:
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if not io.file_exists(tree.odm_mesh) or rerun_cell:
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log.ODM_DEBUG('Writing ODM Mesh file in: %s' % tree.odm_mesh)
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mesh.screened_poisson_reconstruction(infile,
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mesh.screened_poisson_reconstruction(tree.filtered_point_cloud,
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tree.odm_mesh,
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depth=self.params.oct_tree,
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samples=self.params.samples,
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@ -97,7 +91,7 @@ class ODMeshingCell(ecto.Cell):
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log.ODM_DEBUG('ODM 2.5D DSM resolution: %s' % dsm_resolution)
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mesh.create_25dmesh(infile, tree.odm_25dmesh,
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mesh.create_25dmesh(tree.filtered_point_cloud, tree.odm_25dmesh,
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dsm_radius=dsm_radius,
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dsm_resolution=dsm_resolution,
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depth=self.params.oct_tree,
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@ -172,9 +172,6 @@ class ODMOpenSfMCell(ecto.Cell):
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if args.fast_orthophoto:
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system.run('PYTHONPATH=%s %s/bin/opensfm export_ply --no-cameras %s' %
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(context.pyopencv_path, context.opensfm_path, tree.opensfm))
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# Filter
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point_cloud.filter(os.path.join(tree.opensfm, 'reconstruction.ply'), standard_deviation=args.pc_filter, verbose=args.verbose)
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elif args.use_opensfm_dense:
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# Undistort images at full scale in JPG
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# (TODO: we could compare the size of the PNGs if they are < than depthmap_resolution
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@ -183,9 +180,6 @@ class ODMOpenSfMCell(ecto.Cell):
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(context.pyopencv_path, context.opensfm_path, tree.opensfm))
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system.run('PYTHONPATH=%s %s/bin/opensfm compute_depthmaps %s' %
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(context.pyopencv_path, context.opensfm_path, tree.opensfm))
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# Filter
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point_cloud.filter(tree.opensfm_model, standard_deviation=args.pc_filter, verbose=args.verbose)
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else:
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log.ODM_WARNING('Found a valid OpenSfM reconstruction file in: %s' %
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tree.opensfm_reconstruction)
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Ładowanie…
Reference in New Issue