kopia lustrzana https://github.com/OpenDroneMap/ODM
120 wiersze
5.2 KiB
Python
120 wiersze
5.2 KiB
Python
import sys
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import 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 gsd
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from opendm import point_cloud
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from opendm import types
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from opendm.osfm import OSFMContext
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from opendm import multispectral
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class ODMOpenSfMStage(types.ODM_Stage):
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def process(self, args, outputs):
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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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if not photos:
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log.ODM_ERROR('Not enough photos in photos array to start OpenSfM')
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exit(1)
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octx = OSFMContext(tree.opensfm)
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octx.setup(args, tree.dataset_raw, photos, reconstruction=reconstruction, rerun=self.rerun())
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octx.extract_metadata(self.rerun())
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self.update_progress(20)
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octx.feature_matching(self.rerun())
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self.update_progress(30)
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octx.reconstruct(self.rerun())
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octx.extract_cameras(tree.path("cameras.json"), self.rerun())
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self.update_progress(70)
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# If we find a special flag file for split/merge we stop right here
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if os.path.exists(octx.path("split_merge_stop_at_reconstruction.txt")):
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log.ODM_INFO("Stopping OpenSfM early because we found: %s" % octx.path("split_merge_stop_at_reconstruction.txt"))
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self.next_stage = None
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return
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if args.fast_orthophoto:
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output_file = octx.path('reconstruction.ply')
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elif args.use_opensfm_dense:
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output_file = tree.opensfm_model
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else:
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output_file = tree.opensfm_reconstruction
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updated_config_flag_file = octx.path('updated_config.txt')
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# Make sure it's capped by the depthmap-resolution arg,
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# since the undistorted images are used for MVS
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outputs['undist_image_max_size'] = max(
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gsd.image_max_size(photos, args.orthophoto_resolution, tree.opensfm_reconstruction, ignore_gsd=args.ignore_gsd, has_gcp=reconstruction.has_gcp()),
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args.depthmap_resolution
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)
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if not io.file_exists(updated_config_flag_file) or self.rerun():
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octx.update_config({'undistorted_image_max_size': outputs['undist_image_max_size']})
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octx.touch(updated_config_flag_file)
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# These will be used for texturing / MVS
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if args.radiometric_calibration == "none":
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octx.convert_and_undistort(self.rerun())
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else:
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def radiometric_calibrate(shot_id, image):
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photo = reconstruction.get_photo(shot_id)
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return multispectral.dn_to_reflectance(photo, image, use_sun_sensor=args.radiometric_calibration=="camera+sun")
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octx.convert_and_undistort(self.rerun(), radiometric_calibrate)
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self.update_progress(80)
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if reconstruction.multi_camera:
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# Dump band image lists
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log.ODM_INFO("Multiple bands found")
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for band in reconstruction.multi_camera:
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log.ODM_INFO("Exporting %s band" % band['name'])
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image_list_file = octx.path("image_list_%s.txt" % band['name'].lower())
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if not io.file_exists(image_list_file) or self.rerun():
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with open(image_list_file, "w") as f:
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f.write("\n".join([p.filename for p in band['photos']]))
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log.ODM_INFO("Wrote %s" % image_list_file)
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else:
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log.ODM_WARNING("Found a valid image list in %s for %s band" % (image_list_file, band['name']))
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nvm_file = octx.path("undistorted", "reconstruction_%s.nvm" % band['name'].lower())
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if not io.file_exists(nvm_file) or self.rerun():
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octx.run('export_visualsfm --points --image_list "%s"' % image_list_file)
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os.rename(tree.opensfm_reconstruction_nvm, nvm_file)
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else:
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log.ODM_WARNING("Found a valid NVM file in %s for %s band" % (nvm_file, band['name']))
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if not io.file_exists(tree.opensfm_reconstruction_nvm) or self.rerun():
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octx.run('export_visualsfm --points')
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else:
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log.ODM_WARNING('Found a valid OpenSfM NVM reconstruction file in: %s' %
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tree.opensfm_reconstruction_nvm)
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self.update_progress(85)
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# Skip dense reconstruction if necessary and export
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# sparse reconstruction instead
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if args.fast_orthophoto:
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if not io.file_exists(output_file) or self.rerun():
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octx.run('export_ply --no-cameras')
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else:
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log.ODM_WARNING("Found a valid PLY reconstruction in %s" % output_file)
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elif args.use_opensfm_dense:
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if not io.file_exists(output_file) or self.rerun():
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octx.run('compute_depthmaps')
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else:
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log.ODM_WARNING("Found a valid dense reconstruction in %s" % output_file)
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self.update_progress(90)
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if reconstruction.is_georeferenced() and (not io.file_exists(tree.opensfm_transformation) or self.rerun()):
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octx.run('export_geocoords --transformation --proj \'%s\'' % reconstruction.georef.proj4())
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else:
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log.ODM_WARNING("Will skip exporting %s" % tree.opensfm_transformation) |