def process(self, args, outputs):
# get inputs
tree = outputs['tree']
reconstruction = outputs['reconstruction']
photos = reconstruction.photos
if not photos:
log.ODM_ERROR('Not enough photos in photos array to start OpenMVS')
exit(1)
# check if reconstruction was done before
if not io.file_exists(tree.openmvs_model) or self.rerun():
if self.rerun():
if io.dir_exists(tree.openmvs):
shutil.rmtree(tree.openmvs)
# export reconstruction from opensfm
openmvs_scene_file = os.path.join(tree.openmvs, "scene.mvs")
if not io.file_exists(openmvs_scene_file) or self.rerun():
octx = OSFMContext(tree.opensfm)
cmd = 'export_openmvs'
octx.run(cmd)
else:
log.ODM_WARNING("Found existing %s" % openmvs_scene_file)
self.update_progress(10)
depthmaps_dir = os.path.join(tree.openmvs, "depthmaps")
if io.dir_exists(depthmaps_dir) and self.rerun():
shutil.rmtree(depthmaps_dir)
if not io.dir_exists(depthmaps_dir):
os.mkdir(depthmaps_dir)
depthmap_resolution = get_depthmap_resolution(args, photos)
if outputs["undist_image_max_size"] <= depthmap_resolution:
resolution_level = 0
else:
resolution_level = int(
round(
math.log(outputs['undist_image_max_size'] /
float(depthmap_resolution)) / math.log(2)))
log.ODM_INFO(
"Running dense reconstruction. This might take a while.")
log.ODM_INFO("Estimating depthmaps")
densify_ini_file = os.path.join(tree.openmvs, 'config.ini')
with open(densify_ini_file, 'w+') as f:
f.write("Optimize = 0\n") # Disable depth-maps re-filtering
config = [
" --resolution-level %s" % int(resolution_level),
"--min-resolution %s" % depthmap_resolution,
"--max-resolution %s" % int(outputs['undist_image_max_size']),
"--max-threads %s" % args.max_concurrency,
"--number-views-fuse 2",
'-w "%s"' % depthmaps_dir, "-v 0"
]
if args.pc_tile:
config.append("--fusion-mode 1")
system.run('%s "%s" %s' % (context.omvs_densify_path,
openmvs_scene_file, ' '.join(config)))
self.update_progress(85)
files_to_remove = []
scene_dense = os.path.join(tree.openmvs, 'scene_dense.mvs')
if args.pc_tile:
log.ODM_INFO("Computing sub-scenes")
config = [
"--sub-scene-area 660000",
"--max-threads %s" % args.max_concurrency,
'-w "%s"' % depthmaps_dir,
"-v 0",
]
system.run('%s "%s" %s' %
(context.omvs_densify_path, openmvs_scene_file,
' '.join(config)))
scene_files = glob.glob(
os.path.join(tree.openmvs,
"scene_[0-9][0-9][0-9][0-9].mvs"))
if len(scene_files) == 0:
log.ODM_ERROR(
"No OpenMVS scenes found. This could be a bug, or the reconstruction could not be processed."
)
exit(1)
log.ODM_INFO("Fusing depthmaps for %s scenes" %
len(scene_files))
scene_ply_files = []
for sf in scene_files:
p, _ = os.path.splitext(sf)
scene_ply = p + "_dense_dense_filtered.ply"
scene_dense_mvs = p + "_dense.mvs"
files_to_remove += [scene_ply, sf, scene_dense_mvs]
scene_ply_files.append(scene_ply)
if not io.file_exists(scene_ply) or self.rerun():
# Fuse
config = [
'--resolution-level %s' % int(resolution_level),
'--min-resolution %s' % depthmap_resolution,
'--max-resolution %s' %
int(outputs['undist_image_max_size']),
'--dense-config-file "%s"' % densify_ini_file,
'--number-views-fuse 2',
'--max-threads %s' % args.max_concurrency,
'-w "%s"' % depthmaps_dir,
'-v 0',
]
try:
system.run('%s "%s" %s' %
(context.omvs_densify_path, sf,
' '.join(config)))
# Filter
system.run(
'%s "%s" --filter-point-cloud -1 -v 0' %
(context.omvs_densify_path, scene_dense_mvs))
except:
log.ODM_WARNING(
"Sub-scene %s could not be reconstructed, skipping..."
% sf)
if not io.file_exists(scene_ply):
scene_ply_files.pop()
log.ODM_WARNING(
"Could not compute PLY for subscene %s" % sf)
else:
log.ODM_WARNING("Found existing dense scene file %s" %
scene_ply)
# Merge
log.ODM_INFO("Merging %s scene files" % len(scene_ply_files))
if len(scene_ply_files) == 0:
log.ODM_ERROR(
"Could not compute dense point cloud (no PLY files available)."
)
if len(scene_ply_files) == 1:
# Simply rename
os.rename(scene_ply_files[0], tree.openmvs_model)
log.ODM_INFO("%s --> %s" %
(scene_ply_files[0], tree.openmvs_model))
else:
# Merge
fast_merge_ply(scene_ply_files, tree.openmvs_model)
else:
# Filter all at once
if os.path.exists(scene_dense):
config = [
"--filter-point-cloud -1",
'-i "%s"' % scene_dense, "-v 0"
]
system.run('%s %s' %
(context.omvs_densify_path, ' '.join(config)))
else:
log.ODM_WARNING(
"Cannot find scene_dense.mvs, dense reconstruction probably failed. Exiting..."
)
exit(1)
# TODO: add support for image masks
self.update_progress(95)
if args.optimize_disk_space:
files = [
scene_dense,
os.path.join(tree.openmvs, 'scene_dense.ply'),
os.path.join(tree.openmvs,
'scene_dense_dense_filtered.mvs'),
octx.path("undistorted", "tracks.csv"),
octx.path("undistorted", "reconstruction.json")
] + files_to_remove
for f in files:
if os.path.exists(f):
os.remove(f)
shutil.rmtree(depthmaps_dir)
else:
log.ODM_WARNING(
'Found a valid OpenMVS reconstruction file in: %s' %
tree.openmvs_model)
def process(self, args, outputs):
# get inputs
tree = outputs['tree']
reconstruction = outputs['reconstruction']
photos = reconstruction.photos
octx = OSFMContext(tree.opensfm)
if not photos:
raise system.ExitException('Not enough photos in photos array to start OpenMVS')
# check if reconstruction was done before
if not io.file_exists(tree.openmvs_model) or self.rerun():
if self.rerun():
if io.dir_exists(tree.openmvs):
shutil.rmtree(tree.openmvs)
# export reconstruction from opensfm
openmvs_scene_file = os.path.join(tree.openmvs, "scene.mvs")
if not io.file_exists(openmvs_scene_file) or self.rerun():
cmd = 'export_openmvs'
octx.run(cmd)
else:
log.ODM_WARNING("Found existing %s" % openmvs_scene_file)
self.update_progress(10)
depthmaps_dir = os.path.join(tree.openmvs, "depthmaps")
if io.dir_exists(depthmaps_dir) and self.rerun():
shutil.rmtree(depthmaps_dir)
if not io.dir_exists(depthmaps_dir):
os.mkdir(depthmaps_dir)
depthmap_resolution = get_depthmap_resolution(args, photos)
log.ODM_INFO("Depthmap resolution set to: %spx" % depthmap_resolution)
if outputs["undist_image_max_size"] <= depthmap_resolution:
resolution_level = 0
else:
resolution_level = int(round(math.log(outputs['undist_image_max_size'] / float(depthmap_resolution)) / math.log(2)))
log.ODM_INFO("Running dense reconstruction. This might take a while.")
log.ODM_INFO("Estimating depthmaps")
number_views_fuse = 2
densify_ini_file = os.path.join(tree.openmvs, 'Densify.ini')
subres_levels = 2 # The number of lower resolutions to process before estimating output resolution depthmap.
config = [
" --resolution-level %s" % int(resolution_level),
'--dense-config-file "%s"' % densify_ini_file,
"--min-resolution %s" % depthmap_resolution,
"--max-resolution %s" % int(outputs['undist_image_max_size']),
"--max-threads %s" % args.max_concurrency,
"--number-views-fuse %s" % number_views_fuse,
"--sub-resolution-levels %s" % subres_levels,
'-w "%s"' % depthmaps_dir,
"-v 0"
]
gpu_config = []
if not has_gpu(args):
gpu_config.append("--cuda-device -2")
if args.pc_tile:
config.append("--fusion-mode 1")
extra_config = []
if not args.pc_geometric:
extra_config.append("--geometric-iters 0")
masks_dir = os.path.join(tree.opensfm, "undistorted", "masks")
masks = os.path.exists(masks_dir) and len(os.listdir(masks_dir)) > 0
if masks:
extra_config.append("--ignore-mask-label 0")
sharp = args.pc_geometric
with open(densify_ini_file, 'w+') as f:
f.write("Optimize = %s\n" % (7 if sharp else 3))
def run_densify():
system.run('"%s" "%s" %s' % (context.omvs_densify_path,
openmvs_scene_file,
' '.join(config + gpu_config + extra_config)))
try:
run_densify()
except system.SubprocessException as e:
# If the GPU was enabled and the program failed,
# try to run it again without GPU
if e.errorCode == 1 and len(gpu_config) == 0:
log.ODM_WARNING("OpenMVS failed with GPU, is your graphics card driver up to date? Falling back to CPU.")
gpu_config.append("--cuda-device -2")
run_densify()
else:
raise e
self.update_progress(85)
files_to_remove = []
scene_dense = os.path.join(tree.openmvs, 'scene_dense.mvs')
if args.pc_tile:
log.ODM_INFO("Computing sub-scenes")
subscene_densify_ini_file = os.path.join(tree.openmvs, 'subscene-config.ini')
with open(subscene_densify_ini_file, 'w+') as f:
f.write("Optimize = 0\n")
config = [
"--sub-scene-area 660000",
"--max-threads %s" % args.max_concurrency,
'-w "%s"' % depthmaps_dir,
"-v 0",
]
system.run('"%s" "%s" %s' % (context.omvs_densify_path,
openmvs_scene_file,
' '.join(config + gpu_config)))
scene_files = glob.glob(os.path.join(tree.openmvs, "scene_[0-9][0-9][0-9][0-9].mvs"))
if len(scene_files) == 0:
raise system.ExitException("No OpenMVS scenes found. This could be a bug, or the reconstruction could not be processed.")
log.ODM_INFO("Fusing depthmaps for %s scenes" % len(scene_files))
scene_ply_files = []
for sf in scene_files:
p, _ = os.path.splitext(sf)
scene_ply_unfiltered = p + "_dense.ply"
scene_ply = p + "_dense_dense_filtered.ply"
scene_dense_mvs = p + "_dense.mvs"
files_to_remove += [scene_ply, sf, scene_dense_mvs, scene_ply_unfiltered]
scene_ply_files.append(scene_ply)
if not io.file_exists(scene_ply) or self.rerun():
# Fuse
config = [
'--resolution-level %s' % int(resolution_level),
'--min-resolution %s' % depthmap_resolution,
'--max-resolution %s' % int(outputs['undist_image_max_size']),
'--dense-config-file "%s"' % subscene_densify_ini_file,
'--number-views-fuse %s' % number_views_fuse,
'--max-threads %s' % args.max_concurrency,
'-w "%s"' % depthmaps_dir,
'-v 0',
]
try:
system.run('"%s" "%s" %s' % (context.omvs_densify_path, sf, ' '.join(config + gpu_config + extra_config)))
# Filter
if args.pc_filter > 0:
system.run('"%s" "%s" --filter-point-cloud -1 -v 0 %s' % (context.omvs_densify_path, scene_dense_mvs, ' '.join(gpu_config)))
else:
# Just rename
log.ODM_INFO("Skipped filtering, %s --> %s" % (scene_ply_unfiltered, scene_ply))
os.rename(scene_ply_unfiltered, scene_ply)
except:
log.ODM_WARNING("Sub-scene %s could not be reconstructed, skipping..." % sf)
if not io.file_exists(scene_ply):
scene_ply_files.pop()
log.ODM_WARNING("Could not compute PLY for subscene %s" % sf)
else:
log.ODM_WARNING("Found existing dense scene file %s" % scene_ply)
# Merge
log.ODM_INFO("Merging %s scene files" % len(scene_ply_files))
if len(scene_ply_files) == 0:
log.ODM_ERROR("Could not compute dense point cloud (no PLY files available).")
if len(scene_ply_files) == 1:
# Simply rename
os.replace(scene_ply_files[0], tree.openmvs_model)
log.ODM_INFO("%s --> %s"% (scene_ply_files[0], tree.openmvs_model))
else:
# Merge
fast_merge_ply(scene_ply_files, tree.openmvs_model)
else:
# Filter all at once
if args.pc_filter > 0:
if os.path.exists(scene_dense):
config = [
"--filter-point-cloud -1",
'-i "%s"' % scene_dense,
"-v 0"
]
system.run('"%s" %s' % (context.omvs_densify_path, ' '.join(config + gpu_config + extra_config)))
else:
raise system.ExitException("Cannot find scene_dense.mvs, dense reconstruction probably failed. Exiting...")
else:
# Just rename
scene_dense_ply = os.path.join(tree.openmvs, 'scene_dense.ply')
log.ODM_INFO("Skipped filtering, %s --> %s" % (scene_dense_ply, tree.openmvs_model))
os.rename(scene_dense_ply, tree.openmvs_model)
self.update_progress(95)
if args.optimize_disk_space:
files = [scene_dense,
os.path.join(tree.openmvs, 'scene_dense.ply'),
os.path.join(tree.openmvs, 'scene_dense_dense_filtered.mvs'),
octx.path("undistorted", "tracks.csv"),
octx.path("undistorted", "reconstruction.json")
] + files_to_remove
for f in files:
if os.path.exists(f):
os.remove(f)
shutil.rmtree(depthmaps_dir)
else:
log.ODM_WARNING('Found a valid OpenMVS reconstruction file in: %s' %
tree.openmvs_model)