kopia lustrzana https://github.com/OpenDroneMap/ODM
99 wiersze
4.4 KiB
Python
99 wiersze
4.4 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.osfm import OSFMContext
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class ODMMveStage(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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if not photos:
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log.ODM_ERROR('Not enough photos in photos array to start MVE')
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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.mve_model) or self.rerun():
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# mve makescene wants the output directory
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# to not exists before executing it (otherwise it
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# will prompt the user for confirmation)
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if io.dir_exists(tree.mve):
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shutil.rmtree(tree.mve)
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# run mve makescene
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if not io.dir_exists(tree.mve_views):
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nvm_file = tree.opensfm_reconstruction_nvm
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if reconstruction.multi_camera:
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# Reconstruct only the primary band
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primary = reconstruction.multi_camera[0]
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nvm_file = os.path.join(tree.opensfm, "undistorted", "reconstruction_%s.nvm" % primary['name'].lower())
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system.run('%s "%s" "%s"' % (context.makescene_path, nvm_file, tree.mve), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
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self.update_progress(10)
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# Compute mve output scale based on depthmap_resolution
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max_pixels = args.depthmap_resolution * args.depthmap_resolution
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if outputs['undist_image_max_size'] * outputs['undist_image_max_size'] <= max_pixels:
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mve_output_scale = 0
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else:
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ratio = float(outputs['undist_image_max_size'] * outputs['undist_image_max_size']) / float(max_pixels)
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mve_output_scale = int(math.ceil(math.log(ratio) / math.log(4.0)))
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dmrecon_config = [
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"-s%s" % mve_output_scale,
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"--progress=fancy",
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"--local-neighbors=2",
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# "--filter-width=3",
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]
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# Run MVE's dmrecon
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log.ODM_INFO("Running dense reconstruction. This might take a while.")
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# TODO: find out why MVE is crashing at random
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# MVE *seems* to have a race condition, triggered randomly, regardless of dataset
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# https://gist.github.com/pierotofy/6c9ce93194ba510b61e42e3698cfbb89
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# Temporary workaround is to retry the reconstruction until we get it right
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# (up to a certain number of retries).
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retry_count = 1
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while retry_count < 10:
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try:
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system.run('%s %s "%s"' % (context.dmrecon_path, ' '.join(dmrecon_config), tree.mve), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
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break
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except Exception as e:
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if str(e) == "Child returned 134" or str(e) == "Child returned 1":
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retry_count += 1
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log.ODM_WARNING("Caught error code, retrying attempt #%s" % retry_count)
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else:
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raise e
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self.update_progress(90)
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scene2pset_config = [
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"-F%s" % mve_output_scale
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]
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# run scene2pset
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system.run('%s %s "%s" "%s"' % (context.scene2pset_path, ' '.join(scene2pset_config), tree.mve, tree.mve_model), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
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# run cleanmesh (filter points by MVE confidence threshold)
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if args.mve_confidence > 0:
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mve_filtered_model = io.related_file_path(tree.mve_model, postfix=".filtered")
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system.run('%s -t%s --no-clean --component-size=0 "%s" "%s"' % (context.meshclean_path, min(1.0, args.mve_confidence), tree.mve_model, mve_filtered_model), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
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if io.file_exists(mve_filtered_model):
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os.remove(tree.mve_model)
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os.rename(mve_filtered_model, tree.mve_model)
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else:
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log.ODM_WARNING("Couldn't filter MVE model (%s does not exist)." % mve_filtered_model)
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else:
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log.ODM_WARNING('Found a valid MVE reconstruction file in: %s' %
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tree.mve_model)
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