kopia lustrzana https://github.com/OpenDroneMap/ODM
183 wiersze
7.7 KiB
Python
183 wiersze
7.7 KiB
Python
import shutil, os, glob, math
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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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from opendm import types
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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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from opendm.point_cloud import fast_merge_ply
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class ODMOpenMVSStage(types.ODM_Stage):
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def process(self, args, outputs):
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# get inputs
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tree = outputs['tree']
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reconstruction = outputs['reconstruction']
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photos = reconstruction.photos
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octx = OSFMContext(tree.opensfm)
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if not photos:
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log.ODM_ERROR('Not enough photos in photos array to start OpenMVS')
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exit(1)
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# check if reconstruction was done before
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if not io.file_exists(tree.openmvs_model) or self.rerun():
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if self.rerun():
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if io.dir_exists(tree.openmvs):
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shutil.rmtree(tree.openmvs)
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# export reconstruction from opensfm
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openmvs_scene_file = os.path.join(tree.openmvs, "scene.mvs")
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if not io.file_exists(openmvs_scene_file) or self.rerun():
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cmd = 'export_openmvs'
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octx.run(cmd)
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else:
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log.ODM_WARNING("Found existing %s" % openmvs_scene_file)
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self.update_progress(10)
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depthmaps_dir = os.path.join(tree.openmvs, "depthmaps")
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if io.dir_exists(depthmaps_dir) and self.rerun():
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shutil.rmtree(depthmaps_dir)
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if not io.dir_exists(depthmaps_dir):
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os.mkdir(depthmaps_dir)
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depthmap_resolution = get_depthmap_resolution(args, photos)
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if outputs["undist_image_max_size"] <= depthmap_resolution:
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resolution_level = 0
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else:
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resolution_level = int(round(math.log(outputs['undist_image_max_size'] / float(depthmap_resolution)) / math.log(2)))
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log.ODM_INFO("Running dense reconstruction. This might take a while.")
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log.ODM_INFO("Estimating depthmaps")
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densify_ini_file = os.path.join(tree.openmvs, 'config.ini')
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with open(densify_ini_file, 'w+') as f:
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f.write("Optimize = 0\n") # Disable depth-maps re-filtering
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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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"--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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'-w "%s"' % depthmaps_dir,
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"-v 0"
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]
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if args.pc_tile:
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config.append("--fusion-mode 1")
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system.run('%s "%s" %s' % (context.omvs_densify_path,
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openmvs_scene_file,
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' '.join(config)))
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self.update_progress(85)
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files_to_remove = []
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scene_dense = os.path.join(tree.openmvs, 'scene_dense.mvs')
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if args.pc_tile:
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log.ODM_INFO("Computing sub-scenes")
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config = [
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"--sub-scene-area 660000",
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"--max-threads %s" % args.max_concurrency,
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'-w "%s"' % depthmaps_dir,
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"-v 0",
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]
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system.run('%s "%s" %s' % (context.omvs_densify_path,
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openmvs_scene_file,
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' '.join(config)))
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scene_files = glob.glob(os.path.join(tree.openmvs, "scene_[0-9][0-9][0-9][0-9].mvs"))
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if len(scene_files) == 0:
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log.ODM_ERROR("No OpenMVS scenes found. This could be a bug, or the reconstruction could not be processed.")
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exit(1)
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log.ODM_INFO("Fusing depthmaps for %s scenes" % len(scene_files))
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scene_ply_files = []
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for sf in scene_files:
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p, _ = os.path.splitext(sf)
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scene_ply = p + "_dense_dense_filtered.ply"
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scene_dense_mvs = p + "_dense.mvs"
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files_to_remove += [scene_ply, sf, scene_dense_mvs]
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scene_ply_files.append(scene_ply)
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if not io.file_exists(scene_ply) or self.rerun():
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# Fuse
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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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'--max-resolution %s' % int(outputs['undist_image_max_size']),
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'--dense-config-file "%s"' % densify_ini_file,
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'--number-views-fuse 2',
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'--max-threads %s' % args.max_concurrency,
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'-w "%s"' % depthmaps_dir,
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'-v 0',
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]
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try:
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system.run('%s "%s" %s' % (context.omvs_densify_path, sf, ' '.join(config)))
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# Filter
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system.run('%s "%s" --filter-point-cloud -1 -v 0' % (context.omvs_densify_path, scene_dense_mvs))
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except:
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log.ODM_WARNING("Sub-scene %s could not be reconstructed, skipping..." % sf)
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if not io.file_exists(scene_ply):
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scene_ply_files.pop()
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log.ODM_WARNING("Could not compute PLY for subscene %s" % sf)
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else:
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log.ODM_WARNING("Found existing dense scene file %s" % scene_ply)
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# Merge
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log.ODM_INFO("Merging %s scene files" % len(scene_ply_files))
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if len(scene_ply_files) == 0:
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log.ODM_ERROR("Could not compute dense point cloud (no PLY files available).")
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if len(scene_ply_files) == 1:
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# Simply rename
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os.rename(scene_ply_files[0], tree.openmvs_model)
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log.ODM_INFO("%s --> %s"% (scene_ply_files[0], tree.openmvs_model))
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else:
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# Merge
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fast_merge_ply(scene_ply_files, tree.openmvs_model)
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else:
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# Filter all at once
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if os.path.exists(scene_dense):
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config = [
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"--filter-point-cloud -1",
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'-i "%s"' % scene_dense,
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"-v 0"
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]
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system.run('%s %s' % (context.omvs_densify_path, ' '.join(config)))
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else:
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log.ODM_WARNING("Cannot find scene_dense.mvs, dense reconstruction probably failed. Exiting...")
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exit(1)
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# TODO: add support for image masks
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self.update_progress(95)
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if args.optimize_disk_space:
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files = [scene_dense,
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os.path.join(tree.openmvs, 'scene_dense.ply'),
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os.path.join(tree.openmvs, 'scene_dense_dense_filtered.mvs'),
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octx.path("undistorted", "tracks.csv"),
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octx.path("undistorted", "reconstruction.json")
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] + files_to_remove
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for f in files:
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if os.path.exists(f):
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os.remove(f)
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shutil.rmtree(depthmaps_dir)
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else:
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log.ODM_WARNING('Found a valid OpenMVS reconstruction file in: %s' %
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tree.openmvs_model)
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