kopia lustrzana https://github.com/OpenDroneMap/ODM
78 wiersze
2.8 KiB
Python
78 wiersze
2.8 KiB
Python
"""Cell to run odm_slam."""
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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 types
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class ODMSlamStage(types.ODM_Stage):
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"""Run odm_slam on a video and export to opensfm format."""
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def process(self, args, outputs):
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tree = outputs['tree']
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video = os.path.join(tree.root_path, args.video)
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slam_config = os.path.join(tree.root_path, args.slam_config)
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if not video:
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log.ODM_ERROR('No video provided')
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exit(1)
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# create working directories
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system.mkdir_p(tree.opensfm)
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vocabulary = os.path.join(context.orb_slam2_path,
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'Vocabulary/ORBvoc.txt')
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orb_slam_cmd = os.path.join(context.odm_modules_path, 'odm_slam')
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trajectory = os.path.join(tree.opensfm, 'KeyFrameTrajectory.txt')
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map_points = os.path.join(tree.opensfm, 'MapPoints.txt')
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# check if slam was run before
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if not io.file_exists(trajectory) or self.rerun():
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# run slam binary
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system.run(' '.join([
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'cd {} &&'.format(tree.opensfm),
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orb_slam_cmd,
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vocabulary,
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slam_config,
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video,
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]))
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else:
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log.ODM_WARNING('Found a valid slam trajectory in: {}'.format(
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trajectory))
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# check if trajectory was exported to opensfm before
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if not io.file_exists(tree.opensfm_reconstruction) or self.rerun():
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# convert slam to opensfm
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system.run(' '.join([
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'cd {} &&'.format(tree.opensfm),
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'PYTHONPATH={}:{}'.format(context.pyopencv_path,
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context.opensfm_path),
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'python',
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os.path.join(context.odm_modules_src_path,
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'odm_slam/src/orb_slam_to_opensfm.py'),
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video,
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trajectory,
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map_points,
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slam_config,
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]))
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# link opensfm images to resized images
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os.symlink(tree.opensfm + '/images', tree.dataset_resize)
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else:
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log.ODM_WARNING('Found a valid OpenSfM file in: {}'.format(
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tree.opensfm_reconstruction))
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# check if reconstruction was exported to bundler before
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if not io.file_exists(tree.opensfm_bundle_list) or self.rerun():
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# convert back to bundler's format
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system.run(
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'PYTHONPATH={} {}/bin/export_bundler {}'.format(
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context.pyopencv_path, context.opensfm_path, tree.opensfm))
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else:
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log.ODM_WARNING(
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'Found a valid Bundler file in: {}'.format(
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tree.opensfm_reconstruction))
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