Add hybrid bundling option to OpenSfM step

Former-commit-id: b8b8acf5f1

SuperBuild/cmake/External-MvsTexturing.cmake

@@ -8,8 +8,8 @@ ExternalProject_Add(${_proj_name}
   STAMP_DIR         ${_SB_BINARY_DIR}/stamp
   #--Download step--------------
   DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
-  URL               https://github.com/OpenDroneMap/mvs-texturing/archive/bc2c5695e32366fc00e04a560d0d933715a524a1.zip
-  URL_MD5           1c53b1bd78695fe55b7df118c4216605
+  URL               https://github.com/OpenDroneMap/mvs-texturing/archive/4f885aff1d92fb20a7d72d320be5b935397c81c9.zip
+  URL_MD5           cbcccceba4693c6c882eb4aa618a2227
   #--Update/Patch step----------
   UPDATE_COMMAND    ""
   #--Configure step-------------

docker.settings.yaml

@@ -16,6 +16,7 @@ project_path: '/' #DO NOT CHANGE THIS OR DOCKER WILL NOT WORK. It should be '/'
 #verbose: False
 #time: False
 #use_fixed_camera_params: False
+#use_hybrid_bundle_adjustment: False
 #opensfm_processes: 4 # by default this is set to $(nproc)
 #min_num_features: 4000
 #matcher_threshold: 2.0
@@ -43,6 +44,7 @@ project_path: '/' #DO NOT CHANGE THIS OR DOCKER WILL NOT WORK. It should be '/'
 #texturing_keep_unseen_faces: False
 #texturing_tone_mapping: 'none'
 #gcp: !!null  # YAML tag for None
+#use_exif: False # Set to True if you have a GCP file (it auto-detects) and want to use EXIF
 #dtm: False      # Use this tag to build a DTM (Digital Terrain Model
 #dsm: False      # Use this tag to build a DSM (Digital Surface Model
 #dem-gapfill-steps: 4
@@ -52,8 +54,9 @@ project_path: '/' #DO NOT CHANGE THIS OR DOCKER WILL NOT WORK. It should be '/'
 #dem-approximate: False
 #dem-decimation: 1
 #dem-terrain-type: ComplexForest
-#use_exif: False # Set to True if you have a GCP file (it auto-detects) and want to use EXIF
 #orthophoto_resolution: 20.0 # Pixels/meter
 #orthophoto_target_srs: !!null # Currently does nothing
 #orthophoto_no_tiled: False
 #orthophoto_compression: DEFLATE # Options are [JPEG, LZW, PACKBITS, DEFLATE, LZMA, NONE] Don't change unless you know what you are doing
+#orthophoto_bigtiff: IF_SAFER # Options are [YES, NO, IF_NEEDED, IF_SAFER]
+#build_overviews: FALSE

opendm/config.py

@@ -2,7 +2,6 @@ import argparse
 from opendm import context
 from opendm import io
 from opendm import log
-from yaml import safe_load
 from appsettings import SettingsParser
 
 import sys
@@ -143,7 +142,13 @@ def config():
                         type=int,
                         help=('The maximum number of processes to use in dense '
                               'reconstruction. Default: %(default)s'))
-    
+
+    parser.add_argument('--use-hybrid-bundle-adjustment',
+                        action='store_true',
+                        default=False,
+                        help='Run local bundle adjustment for every image added to the reconstruction and a global '
+                             'adjustment every 100 images. Speeds up reconstruction for very large datasets.')
+
     parser.add_argument('--use-25dmesh',
                     action='store_true',
                     default=False,

scripts/odm_app.py

@@ -45,7 +45,8 @@ class ODMApp(ecto.BlackBox):
                                            processes=p.args.opensfm_processes,
                                            matching_gps_neighbors=p.args.matcher_neighbors,
                                            matching_gps_distance=p.args.matcher_distance,
-                                           fixed_camera_params=p.args.use_fixed_camera_params),
+                                           fixed_camera_params=p.args.use_fixed_camera_params,
+                                           hybrid_bundle_adjustment=p.args.use_hybrid_bundle_adjustment),
                  'slam': ODMSlamCell(),
                  'cmvs': ODMCmvsCell(max_images=p.args.cmvs_maxImages),
                  'pmvs': ODMPmvsCell(level=p.args.pmvs_level,
@@ -97,7 +98,7 @@ class ODMApp(ecto.BlackBox):
 
     def connections(self, p):
         if p.args.video:
-            return self.slam_connections(_p)
+            return self.slam_connections(p)
 
         # define initial task
         # TODO: What is this?

scripts/opensfm.py

@@ -15,6 +15,7 @@ class ODMOpenSfMCell(ecto.Cell):
         params.declare("matching_gps_neighbors", "The application arguments.", 8)
         params.declare("matching_gps_distance", "The application arguments.", 0)
         params.declare("fixed_camera_params", "Optimize internal camera parameters", True)
+        params.declare("hybrid_bundle_adjustment", "USe local + global bundle adjustment", False)
 
     def declare_io(self, params, inputs, outputs):
         inputs.declare("tree", "Struct with paths", [])
@@ -80,6 +81,12 @@ class ODMOpenSfMCell(ecto.Cell):
                 config.append("use_altitude_tag: True")
                 config.append("align_method: naive")
 
+            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.matching_gps_distance)
 

settings.yaml

@@ -16,6 +16,7 @@ project_path: '' # Example: '/home/user/ODMProjects
 #verbose: False
 #time: False
 #use_fixed_camera_params: False
+#use_hybrid_bundle_adjustment: False
 #opensfm_processes: 4 # by default this is set to $(nproc)
 #min_num_features: 4000
 #matcher_threshold: 2.0
@@ -57,3 +58,6 @@ project_path: '' # Example: '/home/user/ODMProjects
 #orthophoto_target_srs: !!null # Currently does nothing
 #orthophoto_no_tiled: False
 #orthophoto_compression: DEFLATE # Options are [JPEG, LZW, PACKBITS, DEFLATE, LZMA, NONE] Don't change unless you know what you are doing
+#orthophoto_bigtiff: IF_SAFER # Options are [YES, NO, IF_NEEDED, IF_SAFER]
+#build_overviews: FALSE
+