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Refactored opensfm code 

Former-commit-id: 839512d7f5
pull/1161/head
Piero Toffanin 2019-04-23 13:59:54 -04:00
rodzic 554e559a43
commit bc0a73a2ad
4 zmienionych plików z 116 dodań i 88 usunięć
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26
opendm/config.py
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@ -479,21 +479,16 @@ def config():
version='OpenDroneMap {0}'.format(__version__),
help='Displays version number and exits. ')
parser.add_argument('--submodel-size',
parser.add_argument('--split',
type=int,
default=80,
default=999999,
help='Average number of images per submodel. When '
'splitting a large dataset into smaller '
'submodels, images are grouped into clusters. '
'This value regulates the number of images that '
'each cluster should have on average.')
parser.add_argument('--large',
help='Run large-scale split-merge process',
action='store_true',
default=False)
parser.add_argument('--submodel-overlap',
parser.add_argument('--split-overlap',
type=float,
metavar='<positive integer>',
default=150,
@ -503,14 +498,13 @@ def config():
'are added to the cluster. This is done to ensure '
'that neighboring submodels overlap.')
parser.add_argument('--run-matching',
help='Run matching for each submodel',
action='store_true')
parser.add_argument('--merge-overwrite',
action='store_true',
default=False,
help='Force overwrite of generated files')
parser.add_argument('--split-distributed',
action='store_true',
default=False,
help='Optimizes the split-merge workflow for a distributed computing environment. '
'When this is turned on, feature detection and matching on images is '
'performed independently on the submodels instead of being computed at once. '
'Default: %(default)s')
args = parser.parse_args()

71
opendm/osfm.py 100644
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@ -0,0 +1,71 @@
"""
OpenSfM related utils
"""
from opendm import io
from opendm import log
from opendm import system
from opendm import context
def run(command, opensfm_project_path):
system.run('%s/bin/opensfm %s %s' %
(context.opensfm_path, command, opensfm_project_path))
def setup(args, params, images_path, opensfm_path, photos, gcp_path=None, append_config = []):
"""
Setup a OpenSfM project
"""
if not io.dir_exists(opensfm_path):
system.mkdir_p(opensfm_path)
# create file list
list_path = io.join_paths(opensfm_path, 'image_list.txt')
has_alt = True
with open(list_path, 'w') as fout:
for photo in photos:
if not photo.altitude:
has_alt = False
fout.write('%s\n' % io.join_paths(images_path, photo.filename))
# create config file for OpenSfM
config = [
"use_exif_size: %s" % ('no' if not params.get('use_exif_size') else 'yes'),
"feature_process_size: %s" % params.get('feature_process_size'),
"feature_min_frames: %s" % params.get('feature_min_frames'),
"processes: %s" % params.get('processes'),
"matching_gps_neighbors: %s" % params.get('matching_gps_neighbors'),
"depthmap_method: %s" % args.opensfm_depthmap_method,
"depthmap_resolution: %s" % args.depthmap_resolution,
"depthmap_min_patch_sd: %s" % args.opensfm_depthmap_min_patch_sd,
"depthmap_min_consistent_views: %s" % args.opensfm_depthmap_min_consistent_views,
"optimize_camera_parameters: %s" % ('no' if params.get('fixed_camera_params') else 'yes')
]
if has_alt:
log.ODM_DEBUG("Altitude data detected, enabling it for GPS alignment")
config.append("use_altitude_tag: yes")
config.append("align_method: naive")
else:
config.append("align_method: orientation_prior")
config.append("align_orientation_prior: vertical")
if args.use_hybrid_bundle_adjustment:
log.ODM_DEBUG("Enabling hybrid bundle adjustment")
config.append("bundle_interval: 100") # Bundle after adding 'bundle_interval' cameras
config.append("bundle_new_points_ratio: 1.2") # Bundle when (new points) / (bundled points) > bundle_new_points_ratio
config.append("local_bundle_radius: 1") # Max image graph distance for images to be included in local bundle adjustment
if args.matcher_distance > 0:
config.append("matching_gps_distance: %s" % params.get('matching_gps_distance'))
if gcp_path:
config.append("bundle_use_gcp: yes")
io.copy(gcp_path, opensfm_path)
config = config + append_config
# write config file
log.ODM_DEBUG(config)
config_filename = io.join_paths(opensfm_path, 'config.yaml')
with open(config_filename, 'w') as fout:
fout.write("\n".join(config))

87
scripts/run_opensfm.py
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@ -8,6 +8,7 @@ from opendm import context
from opendm import gsd
from opendm import point_cloud
from opendm import types
from opendm import osfm
class ODMOpenSfMStage(types.ODM_Stage):
def process(self, args, outputs):
@ -31,65 +32,16 @@ class ODMOpenSfMStage(types.ODM_Stage):
# check if reconstruction was done before
if not io.file_exists(output_file) or self.rerun():
# create file list
list_path = io.join_paths(tree.opensfm, 'image_list.txt')
has_alt = True
with open(list_path, 'w') as fout:
for photo in photos:
if not photo.altitude:
has_alt = False
fout.write('%s\n' % io.join_paths(tree.dataset_raw, photo.filename))
# create config file for OpenSfM
config = [
"use_exif_size: %s" % ('no' if not self.params.get('use_exif_size') else 'yes'),
"feature_process_size: %s" % self.params.get('feature_process_size'),
"feature_min_frames: %s" % self.params.get('feature_min_frames'),
"processes: %s" % self.params.get('processes'),
"matching_gps_neighbors: %s" % self.params.get('matching_gps_neighbors'),
"depthmap_method: %s" % args.opensfm_depthmap_method,
"depthmap_resolution: %s" % args.depthmap_resolution,
"depthmap_min_patch_sd: %s" % args.opensfm_depthmap_min_patch_sd,
"depthmap_min_consistent_views: %s" % args.opensfm_depthmap_min_consistent_views,
"optimize_camera_parameters: %s" % ('no' if self.params.get('fixed_camera_params') else 'yes')
]
if has_alt:
log.ODM_DEBUG("Altitude data detected, enabling it for GPS alignment")
config.append("use_altitude_tag: yes")
config.append("align_method: naive")
else:
config.append("align_method: orientation_prior")
config.append("align_orientation_prior: vertical")
if args.use_hybrid_bundle_adjustment:
log.ODM_DEBUG("Enabling hybrid bundle adjustment")
config.append("bundle_interval: 100") # Bundle after adding 'bundle_interval' cameras
config.append("bundle_new_points_ratio: 1.2") # Bundle when (new points) / (bundled points) > bundle_new_points_ratio
config.append("local_bundle_radius: 1") # Max image graph distance for images to be included in local bundle adjustment
if args.matcher_distance > 0:
config.append("matching_gps_distance: %s" % self.params.get('matching_gps_distance'))
if tree.odm_georeferencing_gcp:
config.append("bundle_use_gcp: yes")
io.copy(tree.odm_georeferencing_gcp, tree.opensfm)
# write config file
log.ODM_DEBUG(config)
config_filename = io.join_paths(tree.opensfm, 'config.yaml')
with open(config_filename, 'w') as fout:
fout.write("\n".join(config))
osfm.setup(args, self.params, tree.dataset_raw, tree.opensfm, photos, gcp_path=tree.odm_georeferencing_gcp)
# run OpenSfM reconstruction
matched_done_file = io.join_paths(tree.opensfm, 'matching_done.txt')
if not io.file_exists(matched_done_file) or self.rerun():
system.run('PYTHONPATH=%s %s/bin/opensfm extract_metadata %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
system.run('PYTHONPATH=%s %s/bin/opensfm detect_features %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
system.run('PYTHONPATH=%s %s/bin/opensfm match_features %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
osfm.run('extract_metadata', tree.opensfm)
osfm.run('detect_features', tree.opensfm)
osfm.run('match_features', tree.opensfm)
with open(matched_done_file, 'w') as fout:
fout.write("Matching done!\n")
else:
@ -97,15 +49,13 @@ class ODMOpenSfMStage(types.ODM_Stage):
matched_done_file)
if not io.file_exists(tree.opensfm_tracks) or self.rerun():
system.run('PYTHONPATH=%s %s/bin/opensfm create_tracks %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
osfm.run('create_tracks', tree.opensfm)
else:
log.ODM_WARNING('Found a valid OpenSfM tracks file in: %s' %
tree.opensfm_tracks)
if not io.file_exists(tree.opensfm_reconstruction) or self.rerun():
system.run('PYTHONPATH=%s %s/bin/opensfm reconstruct %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
osfm.run('reconstruct', tree.opensfm)
else:
log.ODM_WARNING('Found a valid OpenSfM reconstruction file in: %s' %
tree.opensfm_reconstruction)
@ -129,29 +79,24 @@ class ODMOpenSfMStage(types.ODM_Stage):
image_scale = 1.0
if not io.file_exists(tree.opensfm_reconstruction_nvm) or self.rerun():
system.run('PYTHONPATH=%s %s/bin/opensfm export_visualsfm --image_extension png --scale_focal %s %s' %
(context.pyopencv_path, context.opensfm_path, image_scale, tree.opensfm))
osfm.run('export_visualsfm --image_extension png --scale_focal %s' % image_scale, tree.opensfm)
else:
log.ODM_WARNING('Found a valid OpenSfM NVM reconstruction file in: %s' %
tree.opensfm_reconstruction_nvm)
# These will be used for texturing
system.run('PYTHONPATH=%s %s/bin/opensfm undistort --image_format png --image_scale %s %s' %
(context.pyopencv_path, context.opensfm_path, image_scale, tree.opensfm))
osfm.run('undistort --image_format png --image_scale %s' % image_scale, tree.opensfm)
# Skip dense reconstruction if necessary and export
# sparse reconstruction instead
if args.fast_orthophoto:
system.run('PYTHONPATH=%s %s/bin/opensfm export_ply --no-cameras %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
osfm.run('export_ply --no-cameras' % image_scale, tree.opensfm)
elif args.use_opensfm_dense:
# Undistort images at full scale in JPG
# (TODO: we could compare the size of the PNGs if they are < than depthmap_resolution
# and use those instead of re-exporting full resolution JPGs)
system.run('PYTHONPATH=%s %s/bin/opensfm undistort %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
system.run('PYTHONPATH=%s %s/bin/opensfm compute_depthmaps %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
osfm.run('undistort', tree.opensfm)
osfm.run('compute_depthmaps', tree.opensfm)
else:
log.ODM_WARNING('Found a valid OpenSfM reconstruction file in: %s' %
tree.opensfm_reconstruction)
@ -159,12 +104,10 @@ class ODMOpenSfMStage(types.ODM_Stage):
# check if reconstruction was exported to bundler before
if not io.file_exists(tree.opensfm_bundle_list) or self.rerun():
# convert back to bundler's format
system.run('PYTHONPATH=%s %s/bin/export_bundler %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
osfm.run('export_bundler', tree.opensfm)
else:
log.ODM_WARNING('Found a valid Bundler file in: %s' %
tree.opensfm_reconstruction)
if reconstruction.georef:
system.run('PYTHONPATH=%s %s/bin/opensfm export_geocoords %s --transformation --proj \'%s\'' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm, reconstruction.georef.projection.srs))
osfm.run('export_geocoords --transformation --proj \'%s\'' % reconstruction.georef.projection.srs, tree.opensfm)

20
scripts/splitmerge.py 100644
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@ -0,0 +1,20 @@
from opendm import log
from opendm import osfm
class ODMSplitStage(types.ODM_Stage):
def process(self, args, outputs):
tree = outputs['tree']
reconstruction = outputs['reconstruction']
photos = reconstruction.photos
config = [
"submodels_relpath: ../submodels/opensfm",
"submodel_relpath_template: ../submodels/submodel_%04d/opensfm",
"submodel_images_relpath_template: ../submodels/submodel_%04d/images",
"submodel_size: %s" % args.split,
"submodel_overlap: %s" % args.split_overlap,
]
osfm.setup(args, self.params, tree.dataset_raw, tree.opensfm, photos, gcp_path=tree.odm_georeferencing_gcp, append_config=config)