def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM Meshing Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
verbose = '-verbose' if self.params.verbose else ''
# define paths and create working directories
system.mkdir_p(tree.odm_meshing)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_meshing') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_meshing' in args.rerun_from)
if not io.file_exists(tree.odm_mesh) or rerun_cell:
log.ODM_DEBUG('Writing ODM Mesh file in: %s' % tree.odm_mesh)
kwargs = {
'bin': context.odm_modules_path,
'outfile': tree.odm_mesh,
'log': tree.odm_meshing_log,
'max_vertex': self.params.max_vertex,
'oct_tree': self.params.oct_tree,
'samples': self.params.samples,
'solver': self.params.solver,
'verbose': verbose
}
if not args.use_pmvs:
kwargs['infile'] = tree.opensfm_model
else:
kwargs['infile'] = tree.pmvs_model
# run meshing binary
system.run('{bin}/odm_meshing -inputFile {infile} '
'-outputFile {outfile} -logFile {log} '
'-maxVertexCount {max_vertex} -octreeDepth {oct_tree} {verbose} '
'-samplesPerNode {samples} -solverDivide {solver}'.format(**kwargs))
else:
log.ODM_WARNING('Found a valid ODM Mesh file in: %s' %
tree.odm_mesh)
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Meshing')
log.ODM_INFO('Running ODM Meshing Cell - Finished')
return ecto.OK if args.end_with != 'odm_meshing' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM Texturing Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
# define paths and create working directories
system.mkdir_p(tree.odm_texturing)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_texturing') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_texturing' in args.rerun_from)
if not io.file_exists(tree.odm_textured_model_obj) or rerun_cell:
log.ODM_DEBUG('Writing ODM Textured file in: %s'
% tree.odm_textured_model_obj)
# odm_texturing definitions
kwargs = {
'bin': context.odm_modules_path,
'out_dir': tree.odm_texturing,
'bundle': tree.opensfm_bundle,
'imgs_path': tree.dataset_resize,
'imgs_list': tree.opensfm_bundle_list,
'model': tree.odm_mesh,
'log': tree.odm_texuring_log,
'resize': self.params.resize,
'resolution': self.params.resolution,
'size': self.params.size
}
# run texturing binary
system.run('{bin}/odm_texturing -bundleFile {bundle} '
'-imagesPath {imgs_path} -imagesListPath {imgs_list} '
'-inputModelPath {model} -outputFolder {out_dir}/ '
'-textureResolution {resolution} -bundleResizedTo {resize} '
'-textureWithSize {size} -logFile {log}'.format(**kwargs))
else:
log.ODM_WARNING('Found a valid ODM Texture file in: %s'
% tree.odm_textured_model_obj)
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Texturing')
log.ODM_INFO('Running ODM Texturing Cell - Finished')
return ecto.OK if args.end_with != 'odm_texturing' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running OMD PMVS Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'pmvs') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'pmvs' in args.rerun_from)
if not io.file_exists(tree.pmvs_model) or rerun_cell:
log.ODM_DEBUG('Creating dense pointcloud in: %s' % tree.pmvs_model)
kwargs = {
'bin': context.cmvs_opts_path,
'prefix': tree.pmvs_rec_path,
'level': self.params.level,
'csize': self.params.csize,
'thresh': self.params.thresh,
'wsize': self.params.wsize,
'min_imgs': self.params.min_imgs,
'cores': self.params.cores
}
# generate pmvs2 options
system.run('{bin} {prefix}/ {level} {csize} {thresh} {wsize} '
'{min_imgs} {cores}'.format(**kwargs))
# run pmvs2
system.run('%s %s/ option-0000' %
(context.pmvs2_path, tree.pmvs_rec_path))
else:
log.ODM_WARNING('Found a valid PMVS file in %s' % tree.pmvs_model)
if args.time:
system.benchmark(start_time, tree.benchmarking, 'PMVS')
log.ODM_INFO('Running ODM PMVS Cell - Finished')
return ecto.OK if args.end_with != 'pmvs' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM FilterPoints Cell')
# get inputs
tree = inputs.tree
args = inputs.args
reconstruction = inputs.reconstruction
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_filterpoints') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_filterpoints' in args.rerun_from)
if not os.path.exists(tree.odm_filterpoints): system.mkdir_p(tree.odm_filterpoints)
# check if reconstruction was done before
if not io.file_exists(tree.filtered_point_cloud) or rerun_cell:
if args.fast_orthophoto:
inputPointCloud = os.path.join(tree.opensfm, 'reconstruction.ply')
elif args.use_opensfm_dense:
inputPointCloud = tree.opensfm_model
else:
inputPointCloud = tree.mve_model
confidence = None
if not args.use_opensfm_dense and not args.fast_orthophoto:
confidence = args.mve_confidence
point_cloud.filter(inputPointCloud, tree.filtered_point_cloud, standard_deviation=args.pc_filter, confidence=confidence, verbose=args.verbose)
else:
log.ODM_WARNING('Found a valid point cloud file in: %s' %
tree.filtered_point_cloud)
outputs.reconstruction = reconstruction
if args.time:
system.benchmark(start_time, tree.benchmarking, 'MVE')
log.ODM_INFO('Running ODM FilterPoints Cell - Finished')
return ecto.OK if args.end_with != 'odm_filterpoints' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM CMVS Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'cmvs') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'cmvs' in args.rerun_from)
if not io.file_exists(tree.pmvs_bundle) or rerun_cell:
log.ODM_DEBUG('Writing CMVS vis in: %s' % tree.pmvs_bundle)
# copy bundle file to pmvs dir
from shutil import copyfile
copyfile(tree.opensfm_bundle,
tree.pmvs_bundle)
kwargs = {
'bin': context.cmvs_path,
'prefix': self.inputs.tree.pmvs_rec_path,
'max_images': self.params.max_images,
'cores': self.params.cores
}
# run cmvs
system.run('{bin} {prefix}/ {max_images} {cores}'.format(**kwargs))
else:
log.ODM_WARNING('Found a valid CMVS file in: %s' %
tree.pmvs_bundle)
if args.time:
system.benchmark(start_time, tree.benchmarking, 'CMVS')
log.ODM_INFO('Running ODM CMVS Cell - Finished')
return ecto.OK if args.end_with != 'cmvs' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running MVS Texturing Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
# define paths and create working directories
system.mkdir_p(tree.odm_texturing)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'mvs_texturing') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'mvs_texturing' in args.rerun_from)
if not io.file_exists(tree.odm_textured_model_obj) or rerun_cell:
log.ODM_DEBUG('Writing MVS Textured file in: %s'
% tree.odm_textured_model_obj)
# Format arguments to fit Mvs-Texturing app
skipGeometricVisibilityTest = ""
skipGlobalSeamLeveling = ""
skipLocalSeamLeveling = ""
skipHoleFilling = ""
keepUnseenFaces = ""
if (self.params.skip_vis_test):
skipGeometricVisibilityTest = "--skip_geometric_visibility_test"
if (self.params.skip_glob_seam_leveling):
skipGlobalSeamLeveling = "--skip_global_seam_leveling"
if (self.params.skip_loc_seam_leveling):
skipLocalSeamLeveling = "--skip_local_seam_leveling"
if (self.params.skip_hole_fill):
skipHoleFilling = "--skip_hole_filling"
if (self.params.keep_unseen_faces):
keepUnseenFaces = "--keep_unseen_faces"
# mvstex definitions
kwargs = {
'bin': context.mvstex_path,
'out_dir': io.join_paths(tree.odm_texturing, "odm_textured_model"),
'pmvs_folder': tree.pmvs_rec_path,
'nvm_file': io.join_paths(tree.pmvs_rec_path, "nvmCams.nvm"),
'model': tree.odm_mesh,
'dataTerm': self.params.data_term,
'outlierRemovalType': self.params.outlier_rem_type,
'skipGeometricVisibilityTest': skipGeometricVisibilityTest,
'skipGlobalSeamLeveling': skipGlobalSeamLeveling,
'skipLocalSeamLeveling': skipLocalSeamLeveling,
'skipHoleFilling': skipHoleFilling,
'keepUnseenFaces': keepUnseenFaces,
'toneMapping': self.params.tone_mapping
}
if not args.use_pmvs:
kwargs['nvm_file'] = io.join_paths(tree.opensfm,
"reconstruction.nvm")
else:
log.ODM_DEBUG('Generating .nvm file from pmvs output: %s'
% '{nvm_file}'.format(**kwargs))
# Create .nvm camera file.
pmvs2nvmcams.run('{pmvs_folder}'.format(**kwargs),
'{nvm_file}'.format(**kwargs))
# run texturing binary
system.run('{bin} {nvm_file} {model} {out_dir} '
'-d {dataTerm} -o {outlierRemovalType} '
'-t {toneMapping} '
'{skipGeometricVisibilityTest} '
'{skipGlobalSeamLeveling} '
'{skipLocalSeamLeveling} '
'{skipHoleFilling} '
'{keepUnseenFaces}'.format(**kwargs))
else:
log.ODM_WARNING('Found a valid ODM Texture file in: %s'
% tree.odm_textured_model_obj)
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Texturing')
log.ODM_INFO('Running ODM Texturing Cell - Finished')
return ecto.OK if args.end_with != 'odm_texturing' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM Texturing Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
verbose = '-verbose' if self.params.verbose else ''
# define paths and create working directories
system.mkdir_p(tree.odm_texturing)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_texturing') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_texturing' in args.rerun_from)
# Undistort radial distortion
if not os.path.isdir(tree.odm_texturing_undistorted_image_path) or rerun_cell:
system.run(' '.join([
'cd {} &&'.format(tree.opensfm),
'PYTHONPATH={}:{}'.format(context.pyopencv_path,
context.opensfm_path),
'python',
os.path.join(context.odm_modules_src_path,
'odm_slam/src/undistort_radial.py'),
'--output',
tree.odm_texturing_undistorted_image_path,
tree.opensfm,
]))
system.run(
'PYTHONPATH=%s %s/bin/export_bundler %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
else:
log.ODM_WARNING(
'Found a valid Bundler file in: %s' %
(tree.opensfm_reconstruction))
if not io.file_exists(tree.odm_textured_model_obj) or rerun_cell:
log.ODM_DEBUG('Writing ODM Textured file in: %s'
% tree.odm_textured_model_obj)
# odm_texturing definitions
kwargs = {
'bin': context.odm_modules_path,
'out_dir': tree.odm_texturing,
'bundle': tree.opensfm_bundle,
'imgs_path': tree.odm_texturing_undistorted_image_path,
'imgs_list': tree.opensfm_bundle_list,
'model': tree.odm_mesh,
'log': tree.odm_texuring_log,
'resize': self.params.resize,
'resolution': self.params.resolution,
'size': self.params.size,
'verbose': verbose
}
# run texturing binary
system.run('{bin}/odm_texturing -bundleFile {bundle} '
'-imagesPath {imgs_path} -imagesListPath {imgs_list} '
'-inputModelPath {model} -outputFolder {out_dir}/ '
'-textureResolution {resolution} -bundleResizedTo {resize} {verbose} '
'-textureWithSize {size} -logFile {log}'.format(**kwargs))
else:
log.ODM_WARNING('Found a valid ODM Texture file in: %s'
% tree.odm_textured_model_obj)
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Texturing')
log.ODM_INFO('Running ODM Texturing Cell - Finished')
return ecto.OK if args.end_with != 'odm_texturing' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running MVS Texturing Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
# define paths and create working directories
system.mkdir_p(tree.odm_texturing)
if args.use_25dmesh: system.mkdir_p(tree.odm_25dtexturing)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'mvs_texturing') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'mvs_texturing' in args.rerun_from)
runs = [{'out_dir': tree.odm_texturing, 'model': tree.odm_mesh}]
if args.use_25dmesh:
runs += [{
'out_dir': tree.odm_25dtexturing,
'model': tree.odm_25dmesh
}]
for r in runs:
odm_textured_model_obj = os.path.join(r['out_dir'],
tree.odm_textured_model_obj)
if not io.file_exists(odm_textured_model_obj) or rerun_cell:
log.ODM_DEBUG('Writing MVS Textured file in: %s' %
odm_textured_model_obj)
# Format arguments to fit Mvs-Texturing app
skipGeometricVisibilityTest = ""
skipGlobalSeamLeveling = ""
skipLocalSeamLeveling = ""
skipHoleFilling = ""
keepUnseenFaces = ""
if (self.params.skip_vis_test):
skipGeometricVisibilityTest = "--skip_geometric_visibility_test"
if (self.params.skip_glob_seam_leveling):
skipGlobalSeamLeveling = "--skip_global_seam_leveling"
if (self.params.skip_loc_seam_leveling):
skipLocalSeamLeveling = "--skip_local_seam_leveling"
if (self.params.skip_hole_fill):
skipHoleFilling = "--skip_hole_filling"
if (self.params.keep_unseen_faces):
keepUnseenFaces = "--keep_unseen_faces"
# mvstex definitions
kwargs = {
'bin': context.mvstex_path,
'out_dir': io.join_paths(r['out_dir'],
"odm_textured_model"),
'pmvs_folder': tree.pmvs_rec_path,
'nvm_file': io.join_paths(tree.pmvs_rec_path,
"nvmCams.nvm"),
'model': r['model'],
'dataTerm': self.params.data_term,
'outlierRemovalType': self.params.outlier_rem_type,
'skipGeometricVisibilityTest': skipGeometricVisibilityTest,
'skipGlobalSeamLeveling': skipGlobalSeamLeveling,
'skipLocalSeamLeveling': skipLocalSeamLeveling,
'skipHoleFilling': skipHoleFilling,
'keepUnseenFaces': keepUnseenFaces,
'toneMapping': self.params.tone_mapping
}
if not args.use_pmvs:
kwargs['nvm_file'] = io.join_paths(tree.opensfm,
"reconstruction.nvm")
else:
log.ODM_DEBUG('Generating .nvm file from pmvs output: %s' %
'{nvm_file}'.format(**kwargs))
# Create .nvm camera file.
pmvs2nvmcams.run('{pmvs_folder}'.format(**kwargs),
'{nvm_file}'.format(**kwargs))
# run texturing binary
system.run('{bin} {nvm_file} {model} {out_dir} '
'-d {dataTerm} -o {outlierRemovalType} '
'-t {toneMapping} '
'{skipGeometricVisibilityTest} '
'{skipGlobalSeamLeveling} '
'{skipLocalSeamLeveling} '
'{skipHoleFilling} '
'{keepUnseenFaces}'.format(**kwargs))
else:
log.ODM_WARNING('Found a valid ODM Texture file in: %s' %
odm_textured_model_obj)
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Texturing')
log.ODM_INFO('Running ODM Texturing Cell - Finished')
return ecto.OK if args.end_with != 'mvs_texturing' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM Orthophoto Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
verbose = '-verbose' if self.params.verbose else ''
# define paths and create working directories
system.mkdir_p(tree.odm_orthophoto)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_orthophoto') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_orthophoto' in args.rerun_from)
if not io.file_exists(tree.odm_orthophoto_file) or rerun_cell:
# odm_orthophoto definitions
kwargs = {
'bin': context.odm_modules_path,
'log': tree.odm_orthophoto_log,
'ortho': tree.odm_orthophoto_file,
'corners': tree.odm_orthophoto_corners,
'res': self.params.resolution,
'verbose': verbose
}
# Have geo coordinates?
if io.file_exists(tree.odm_georeferencing_coords):
if args.use_25dmesh:
kwargs['model_geo'] = os.path.join(
tree.odm_25dtexturing,
tree.odm_georeferencing_model_obj_geo)
else:
kwargs['model_geo'] = os.path.join(
tree.odm_texturing,
tree.odm_georeferencing_model_obj_geo)
else:
if args.use_25dmesh:
kwargs['model_geo'] = os.path.join(
tree.odm_25dtexturing, tree.odm_textured_model_obj)
else:
kwargs['model_geo'] = os.path.join(
tree.odm_texturing, tree.odm_textured_model_obj)
# run odm_orthophoto
system.run(
'{bin}/odm_orthophoto -inputFile {model_geo} '
'-logFile {log} -outputFile {ortho} -resolution {res} {verbose} '
'-outputCornerFile {corners}'.format(**kwargs))
if not io.file_exists(tree.odm_georeferencing_coords):
log.ODM_WARNING('No coordinates file. A georeferenced raster '
'will not be created')
else:
# Create georeferenced GeoTiff
geotiffcreated = False
georef = types.ODM_GeoRef()
# creates the coord refs # TODO I don't want to have to do this twice- after odm_georef
georef.parse_coordinate_system(tree.odm_georeferencing_coords)
if georef.epsg and georef.utm_east_offset and georef.utm_north_offset:
ulx = uly = lrx = lry = 0.0
with open(tree.odm_orthophoto_corners) as f:
for lineNumber, line in enumerate(f):
if lineNumber == 0:
tokens = line.split(' ')
if len(tokens) == 4:
ulx = float(tokens[0]) + \
float(georef.utm_east_offset)
lry = float(tokens[1]) + \
float(georef.utm_north_offset)
lrx = float(tokens[2]) + \
float(georef.utm_east_offset)
uly = float(tokens[3]) + \
float(georef.utm_north_offset)
log.ODM_INFO('Creating GeoTIFF')
kwargs = {
'ulx':
ulx,
'uly':
uly,
'lrx':
lrx,
'lry':
lry,
'tiled':
'' if self.params.no_tiled else '-co TILED=yes ',
'compress':
self.params.compress,
'predictor':
'-co PREDICTOR=2 '
if self.params.compress in ['LZW', 'DEFLATE'] else '',
'epsg':
georef.epsg,
't_srs':
self.params.t_srs or "EPSG:{0}".format(georef.epsg),
'bigtiff':
self.params.bigtiff,
'png':
tree.odm_orthophoto_file,
'tiff':
tree.odm_orthophoto_tif,
'log':
tree.odm_orthophoto_tif_log
}
system.run(
'gdal_translate -a_ullr {ulx} {uly} {lrx} {lry} '
'{tiled} '
'-co BIGTIFF={bigtiff} '
'-co COMPRESS={compress} '
'{predictor} '
'-co BLOCKXSIZE=512 '
'-co BLOCKYSIZE=512 '
'-co NUM_THREADS=ALL_CPUS '
'-a_srs \"EPSG:{epsg}\" '
'{png} {tiff} > {log}'.format(**kwargs))
if self.params.build_overviews:
log.ODM_DEBUG("Building Overviews")
kwargs = {
'orthophoto': tree.odm_orthophoto_tif,
'log': tree.odm_orthophoto_gdaladdo_log
}
# Run gdaladdo
system.run(
'gdaladdo -ro -r average '
'--config BIGTIFF_OVERVIEW IF_SAFER '
'--config COMPRESS_OVERVIEW JPEG '
'{orthophoto} 2 4 8 16 > {log}'.format(**kwargs))
geotiffcreated = True
if not geotiffcreated:
log.ODM_WARNING(
'No geo-referenced orthophoto created due '
'to missing geo-referencing or corner coordinates.')
else:
log.ODM_WARNING('Found a valid orthophoto in: %s' %
tree.odm_orthophoto_file)
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Orthophoto')
log.ODM_INFO('Running ODM OrthoPhoto Cell - Finished')
return ecto.OK if args.end_with != 'odm_orthophoto' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM DEM Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
las_model_found = io.file_exists(tree.odm_georeferencing_model_laz)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_dem') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_dem' in args.rerun_from)
log.ODM_INFO('Classify: ' + str(args.pc_classify != "none"))
log.ODM_INFO('Create DSM: ' + str(args.dsm))
log.ODM_INFO('Create DTM: ' + str(args.dtm))
log.ODM_INFO('DEM input file {0} found: {1}'.format(tree.odm_georeferencing_model_laz, str(las_model_found)))
# Setup terrain parameters
terrain_params_map = {
'flatnonforest': (1, 3),
'flatforest': (1, 2),
'complexnonforest': (5, 2),
'complexforest': (10, 2)
}
terrain_params = terrain_params_map[args.dem_terrain_type.lower()]
slope, cellsize = terrain_params
# define paths and create working directories
odm_dem_root = tree.path('odm_dem')
if not io.dir_exists(odm_dem_root):
system.mkdir_p(odm_dem_root)
if args.pc_classify != "none" and las_model_found:
pc_classify_marker = os.path.join(odm_dem_root, 'pc_classify_done.txt')
if not io.file_exists(pc_classify_marker) or rerun_cell:
log.ODM_INFO("Classifying {} using {}".format(tree.odm_georeferencing_model_laz, args.pc_classify))
commands.classify(tree.odm_georeferencing_model_laz,
args.pc_classify == "smrf",
slope,
cellsize,
approximate=args.dem_approximate,
initialDistance=args.dem_initial_distance,
verbose=args.verbose
)
with open(pc_classify_marker, 'w') as f:
f.write('Classify: {}\n'.format(args.pc_classify))
f.write('Slope: {}\n'.format(slope))
f.write('Cellsize: {}\n'.format(cellsize))
f.write('Approximate: {}\n'.format(args.dem_approximate))
f.write('InitialDistance: {}\n'.format(args.dem_initial_distance))
# Do we need to process anything here?
if (args.dsm or args.dtm) and las_model_found:
dsm_output_filename = os.path.join(odm_dem_root, 'dsm.tif')
dtm_output_filename = os.path.join(odm_dem_root, 'dtm.tif')
if (args.dtm and not io.file_exists(dtm_output_filename)) or \
(args.dsm and not io.file_exists(dsm_output_filename)) or \
rerun_cell:
products = []
if args.dsm: products.append('dsm')
if args.dtm: products.append('dtm')
resolution = gsd.cap_resolution(args.dem_resolution, tree.opensfm_reconstruction, ignore_gsd=args.ignore_gsd)
radius_steps = [(resolution / 100.0) / 2.0]
for _ in range(args.dem_gapfill_steps - 1):
radius_steps.append(radius_steps[-1] * 2) # 2 is arbitrary, maybe there's a better value?
for product in products:
commands.create_dems(
[tree.odm_georeferencing_model_laz],
product,
radius=map(str, radius_steps),
gapfill=True,
outdir=odm_dem_root,
resolution=resolution / 100.0,
maxsd=args.dem_maxsd,
maxangle=args.dem_maxangle,
decimation=args.dem_decimation,
verbose=args.verbose,
max_workers=args.max_concurrency
)
if args.crop > 0:
bounds_shapefile_path = os.path.join(tree.odm_georeferencing, 'odm_georeferenced_model.bounds.shp')
if os.path.exists(bounds_shapefile_path):
Cropper.crop(bounds_shapefile_path, os.path.join(odm_dem_root, "{}.tif".format(product)), {
'TILED': 'YES',
'COMPRESS': 'LZW',
'BLOCKXSIZE': 512,
'BLOCKYSIZE': 512,
'NUM_THREADS': self.params.max_concurrency
})
else:
log.ODM_WARNING('Found existing outputs in: %s' % odm_dem_root)
else:
log.ODM_WARNING('DEM will not be generated')
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Dem')
log.ODM_INFO('Running ODM DEM Cell - Finished')
return ecto.OK if args.end_with != 'odm_dem' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM OpenSfM Cell')
# get inputs
tree = inputs.tree
args = inputs.args
reconstruction = inputs.reconstruction
photos = reconstruction.photos
if not photos:
log.ODM_ERROR('Not enough photos in photos array to start OpenSfM')
return ecto.QUIT
# create working directories
system.mkdir_p(tree.opensfm)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'opensfm') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'opensfm' in args.rerun_from)
if args.fast_orthophoto:
output_file = io.join_paths(tree.opensfm, 'reconstruction.ply')
elif args.use_opensfm_dense:
output_file = tree.opensfm_model
else:
output_file = tree.opensfm_reconstruction
# check if reconstruction was done before
if not io.file_exists(output_file) or rerun_cell:
# create file list
list_path = io.join_paths(tree.opensfm, 'image_list.txt')
has_alt = True
with open(list_path, 'w') as fout:
for photo in photos:
if not photo.altitude:
has_alt = False
fout.write('%s\n' % io.join_paths(tree.dataset_raw, photo.filename))
# create config file for OpenSfM
config = [
"use_exif_size: %s" % ('no' if not self.params.use_exif_size else 'yes'),
"feature_process_size: %s" % self.params.feature_process_size,
"feature_min_frames: %s" % self.params.feature_min_frames,
"processes: %s" % self.params.processes,
"matching_gps_neighbors: %s" % self.params.matching_gps_neighbors,
"depthmap_method: %s" % args.opensfm_depthmap_method,
"depthmap_resolution: %s" % args.depthmap_resolution,
"depthmap_min_patch_sd: %s" % args.opensfm_depthmap_min_patch_sd,
"depthmap_min_consistent_views: %s" % args.opensfm_depthmap_min_consistent_views,
"optimize_camera_parameters: %s" % ('no' if self.params.fixed_camera_params else 'yes')
]
if has_alt:
log.ODM_DEBUG("Altitude data detected, enabling it for GPS alignment")
config.append("use_altitude_tag: yes")
config.append("align_method: naive")
else:
config.append("align_method: orientation_prior")
config.append("align_orientation_prior: vertical")
if args.use_hybrid_bundle_adjustment:
log.ODM_DEBUG("Enabling hybrid bundle adjustment")
config.append("bundle_interval: 100") # Bundle after adding 'bundle_interval' cameras
config.append("bundle_new_points_ratio: 1.2") # Bundle when (new points) / (bundled points) > bundle_new_points_ratio
config.append("local_bundle_radius: 1") # Max image graph distance for images to be included in local bundle adjustment
if args.matcher_distance > 0:
config.append("matching_gps_distance: %s" % self.params.matching_gps_distance)
if tree.odm_georeferencing_gcp:
config.append("bundle_use_gcp: yes")
io.copy(tree.odm_georeferencing_gcp, tree.opensfm)
# write config file
log.ODM_DEBUG(config)
config_filename = io.join_paths(tree.opensfm, 'config.yaml')
with open(config_filename, 'w') as fout:
fout.write("\n".join(config))
# run OpenSfM reconstruction
matched_done_file = io.join_paths(tree.opensfm, 'matching_done.txt')
if not io.file_exists(matched_done_file) or rerun_cell:
system.run('PYTHONPATH=%s %s/bin/opensfm extract_metadata %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
system.run('PYTHONPATH=%s %s/bin/opensfm detect_features %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
system.run('PYTHONPATH=%s %s/bin/opensfm match_features %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
with open(matched_done_file, 'w') as fout:
fout.write("Matching done!\n")
else:
log.ODM_WARNING('Found a feature matching done progress file in: %s' %
matched_done_file)
if not io.file_exists(tree.opensfm_tracks) or rerun_cell:
system.run('PYTHONPATH=%s %s/bin/opensfm create_tracks %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
else:
log.ODM_WARNING('Found a valid OpenSfM tracks file in: %s' %
tree.opensfm_tracks)
if not io.file_exists(tree.opensfm_reconstruction) or rerun_cell:
system.run('PYTHONPATH=%s %s/bin/opensfm reconstruct %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
else:
log.ODM_WARNING('Found a valid OpenSfM reconstruction file in: %s' %
tree.opensfm_reconstruction)
# Check that a reconstruction file has been created
if not io.file_exists(tree.opensfm_reconstruction):
log.ODM_ERROR("The program could not process this dataset using the current settings. "
"Check that the images have enough overlap, "
"that there are enough recognizable features "
"and that the images are in focus. "
"You could also try to increase the --min-num-features parameter."
"The program will now exit.")
sys.exit(1)
# Always export VisualSFM's reconstruction and undistort images
# as we'll use these for texturing (after GSD estimation and resizing)
if not args.ignore_gsd:
image_scale = gsd.image_scale_factor(args.orthophoto_resolution, tree.opensfm_reconstruction)
else:
image_scale = 1.0
if not io.file_exists(tree.opensfm_reconstruction_nvm) or rerun_cell:
system.run('PYTHONPATH=%s %s/bin/opensfm export_visualsfm --image_extension png --scale_focal %s %s' %
(context.pyopencv_path, context.opensfm_path, image_scale, tree.opensfm))
else:
log.ODM_WARNING('Found a valid OpenSfM NVM reconstruction file in: %s' %
tree.opensfm_reconstruction_nvm)
# These will be used for texturing
system.run('PYTHONPATH=%s %s/bin/opensfm undistort --image_format png --image_scale %s %s' %
(context.pyopencv_path, context.opensfm_path, image_scale, tree.opensfm))
# Skip dense reconstruction if necessary and export
# sparse reconstruction instead
if args.fast_orthophoto:
system.run('PYTHONPATH=%s %s/bin/opensfm export_ply --no-cameras %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
elif args.use_opensfm_dense:
# Undistort images at full scale in JPG
# (TODO: we could compare the size of the PNGs if they are < than depthmap_resolution
# and use those instead of re-exporting full resolution JPGs)
system.run('PYTHONPATH=%s %s/bin/opensfm undistort %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
system.run('PYTHONPATH=%s %s/bin/opensfm compute_depthmaps %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
else:
log.ODM_WARNING('Found a valid OpenSfM reconstruction file in: %s' %
tree.opensfm_reconstruction)
# check if reconstruction was exported to bundler before
if not io.file_exists(tree.opensfm_bundle_list) or rerun_cell:
# convert back to bundler's format
system.run('PYTHONPATH=%s %s/bin/export_bundler %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
else:
log.ODM_WARNING('Found a valid Bundler file in: %s' %
tree.opensfm_reconstruction)
if reconstruction.georef:
system.run('PYTHONPATH=%s %s/bin/opensfm export_geocoords %s --transformation --proj \'%s\'' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm, reconstruction.georef.projection.srs))
outputs.reconstruction = reconstruction
if args.time:
system.benchmark(start_time, tree.benchmarking, 'OpenSfM')
log.ODM_INFO('Running ODM OpenSfM Cell - Finished')
return ecto.OK if args.end_with != 'opensfm' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM Orthophoto Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
verbose = '-verbose' if self.params.verbose else ''
# define paths and create working directories
system.mkdir_p(tree.odm_orthophoto)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_orthophoto') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_orthophoto' in args.rerun_from)
if not io.file_exists(tree.odm_orthophoto_file) or rerun_cell:
# odm_orthophoto definitions
kwargs = {
'bin': context.odm_modules_path,
'log': tree.odm_orthophoto_log,
'ortho': tree.odm_orthophoto_file,
'corners': tree.odm_orthophoto_corners,
'res': self.params.resolution,
'verbose': verbose
}
kwargs['model_geo'] = tree.odm_georeferencing_model_obj_geo \
if io.file_exists(tree.odm_georeferencing_coords) \
else tree.odm_textured_model_obj
# run odm_orthophoto
system.run('{bin}/odm_orthophoto -inputFile {model_geo} '
'-logFile {log} -outputFile {ortho} -resolution {res} {verbose} '
'-outputCornerFile {corners}'.format(**kwargs))
if not io.file_exists(tree.odm_georeferencing_coords):
log.ODM_WARNING('No coordinates file. A georeferenced raster '
'will not be created')
else:
# Create georeferenced GeoTiff
geotiffcreated = False
georef = types.ODM_GeoRef()
# creates the coord refs # TODO I don't want to have to do this twice- after odm_georef
georef.parse_coordinate_system(tree.odm_georeferencing_coords)
if georef.epsg and georef.utm_east_offset and georef.utm_north_offset:
ulx = uly = lrx = lry = 0.0
with open(tree.odm_orthophoto_corners) as f:
for lineNumber, line in enumerate(f):
if lineNumber == 0:
tokens = line.split(' ')
if len(tokens) == 4:
ulx = float(tokens[0]) + \
float(georef.utm_east_offset)
lry = float(tokens[1]) + \
float(georef.utm_north_offset)
lrx = float(tokens[2]) + \
float(georef.utm_east_offset)
uly = float(tokens[3]) + \
float(georef.utm_north_offset)
log.ODM_INFO('Creating GeoTIFF')
kwargs = {
'ulx': ulx,
'uly': uly,
'lrx': lrx,
'lry': lry,
'tiled': '' if self.params.no_tiled else '-co TILED=yes ',
'compress': self.params.compress,
'predictor': '-co PREDICTOR=2 ' if self.params.compress in
['LZW', 'DEFLATE'] else '',
'epsg': georef.epsg,
't_srs': self.params.t_srs or "EPSG:{0}".format(georef.epsg),
'bigtiff': self.params.bigtiff,
'png': tree.odm_orthophoto_file,
'tiff': tree.odm_orthophoto_tif,
'log': tree.odm_orthophoto_tif_log
}
system.run('gdal_translate -a_ullr {ulx} {uly} {lrx} {lry} '
'{tiled} '
'-co BIGTIFF={bigtiff} '
'-co COMPRESS={compress} '
'{predictor} '
'-co BLOCKXSIZE=512 '
'-co BLOCKYSIZE=512 '
'-co NUM_THREADS=ALL_CPUS '
'-a_srs \"EPSG:{epsg}\" '
'{png} {tiff} > {log}'.format(**kwargs))
if self.params.build_overviews:
log.ODM_DEBUG("Building Overviews")
kwargs = {
'orthophoto': tree.odm_orthophoto_tif,
'log': tree.odm_orthophoto_gdaladdo_log
}
# Run gdaladdo
system.run('gdaladdo -ro -r average '
'--config BIGTIFF_OVERVIEW IF_SAFER '
'--config COMPRESS_OVERVIEW JPEG '
'{orthophoto} 2 4 8 16 > {log}'.format(**kwargs))
geotiffcreated = True
if not geotiffcreated:
log.ODM_WARNING('No geo-referenced orthophoto created due '
'to missing geo-referencing or corner coordinates.')
else:
log.ODM_WARNING('Found a valid orthophoto in: %s' % tree.odm_orthophoto_file)
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Orthophoto')
log.ODM_INFO('Running ODM OrthoPhoto Cell - Finished')
return ecto.OK if args.end_with != 'odm_orthophoto' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM Georeferencing Cell')
# get inputs
args = inputs.args
tree = inputs.tree
reconstruction = inputs.reconstruction
gcpfile = tree.odm_georeferencing_gcp
doPointCloudGeo = True
transformPointCloud = True
verbose = '-verbose' if self.params.verbose else ''
geo_ref = reconstruction.georef
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_georeferencing') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_georeferencing' in args.rerun_from)
runs = [{
'georeferencing_dir':
tree.odm_georeferencing,
'texturing_dir':
tree.odm_texturing,
'model':
os.path.join(tree.odm_texturing, tree.odm_textured_model_obj)
}]
if args.skip_3dmodel:
runs = []
if not args.use_3dmesh:
# Make sure 2.5D mesh is georeferenced before the 3D mesh
# Because it will be used to calculate a transform
# for the point cloud. If we use the 3D model transform,
# DEMs and orthophoto might not align!
runs.insert(
0, {
'georeferencing_dir':
tree.odm_25dgeoreferencing,
'texturing_dir':
tree.odm_25dtexturing,
'model':
os.path.join(tree.odm_25dtexturing,
tree.odm_textured_model_obj)
})
for r in runs:
odm_georeferencing_model_obj_geo = os.path.join(
r['texturing_dir'], tree.odm_georeferencing_model_obj_geo)
odm_georeferencing_log = os.path.join(r['georeferencing_dir'],
tree.odm_georeferencing_log)
odm_georeferencing_transform_file = os.path.join(
r['georeferencing_dir'],
tree.odm_georeferencing_transform_file)
odm_georeferencing_model_txt_geo_file = os.path.join(
r['georeferencing_dir'], tree.odm_georeferencing_model_txt_geo)
if not io.file_exists(odm_georeferencing_model_obj_geo) or \
not io.file_exists(tree.odm_georeferencing_model_laz) or rerun_cell:
# odm_georeference definitions
kwargs = {
'bin': context.odm_modules_path,
'input_pc_file': tree.filtered_point_cloud,
'bundle': tree.opensfm_bundle,
'imgs': tree.dataset_raw,
'imgs_list': tree.opensfm_bundle_list,
'model': r['model'],
'log': odm_georeferencing_log,
'input_trans_file': tree.opensfm_transformation,
'transform_file': odm_georeferencing_transform_file,
'coords': tree.odm_georeferencing_coords,
'output_pc_file': tree.odm_georeferencing_model_laz,
'geo_sys': odm_georeferencing_model_txt_geo_file,
'model_geo': odm_georeferencing_model_obj_geo,
'gcp': gcpfile,
'verbose': verbose
}
if transformPointCloud:
kwargs[
'pc_params'] = '-inputPointCloudFile {input_pc_file} -outputPointCloudFile {output_pc_file}'.format(
**kwargs)
if geo_ref and geo_ref.projection and geo_ref.projection.srs:
kwargs[
'pc_params'] += ' -outputPointCloudSrs %s' % pipes.quote(
geo_ref.projection.srs)
else:
log.ODM_WARNING(
'NO SRS: The output point cloud will not have a SRS.'
)
else:
kwargs['pc_params'] = ''
# Check to see if the GCP file exists
if not self.params.use_exif and (self.params.gcp_file or
tree.odm_georeferencing_gcp):
log.ODM_INFO('Found %s' % gcpfile)
try:
system.run(
'{bin}/odm_georef -bundleFile {bundle} -imagesPath {imgs} -imagesListPath {imgs_list} '
'-inputFile {model} -outputFile {model_geo} '
'{pc_params} {verbose} '
'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys} -gcpFile {gcp} '
'-outputCoordFile {coords}'.format(**kwargs))
except Exception:
log.ODM_EXCEPTION('Georeferencing failed. ')
return ecto.QUIT
elif io.file_exists(
tree.opensfm_transformation) and io.file_exists(
tree.odm_georeferencing_coords):
log.ODM_INFO(
'Running georeferencing with OpenSfM transformation matrix'
)
system.run(
'{bin}/odm_georef -bundleFile {bundle} -inputTransformFile {input_trans_file} -inputCoordFile {coords} '
'-inputFile {model} -outputFile {model_geo} '
'{pc_params} {verbose} '
'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys}'
.format(**kwargs))
elif io.file_exists(tree.odm_georeferencing_coords):
log.ODM_INFO(
'Running georeferencing with generated coords file.')
system.run(
'{bin}/odm_georef -bundleFile {bundle} -inputCoordFile {coords} '
'-inputFile {model} -outputFile {model_geo} '
'{pc_params} {verbose} '
'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys}'
.format(**kwargs))
else:
log.ODM_WARNING(
'Georeferencing failed. Make sure your '
'photos have geotags in the EXIF or you have '
'provided a GCP file. ')
doPointCloudGeo = False # skip the rest of the georeferencing
if doPointCloudGeo:
# update images metadata
geo_ref.extract_offsets(
odm_georeferencing_model_txt_geo_file)
reconstruction.georef = geo_ref
# XYZ point cloud output
if args.pc_csv:
log.ODM_INFO(
"Creating geo-referenced CSV file (XYZ format)")
system.run(
"pdal translate -i \"{}\" "
"-o \"{}\" "
"--writers.text.format=csv "
"--writers.text.order=\"X,Y,Z\" "
"--writers.text.keep_unspecified=false ".format(
tree.odm_georeferencing_model_laz,
tree.odm_georeferencing_xyz_file))
# LAS point cloud output
if args.pc_las:
log.ODM_INFO("Creating geo-referenced LAS file")
system.run("pdal translate -i \"{}\" "
"-o \"{}\" ".format(
tree.odm_georeferencing_model_laz,
tree.odm_georeferencing_model_las))
if args.crop > 0:
log.ODM_INFO(
"Calculating cropping area and generating bounds shapefile from point cloud"
)
cropper = Cropper(tree.odm_georeferencing,
'odm_georeferenced_model')
decimation_step = 40 if args.fast_orthophoto or args.use_opensfm_dense else 90
# More aggressive decimation for large datasets
if not args.fast_orthophoto:
decimation_step *= int(
len(reconstruction.photos) / 1000) + 1
cropper.create_bounds_shapefile(
tree.odm_georeferencing_model_laz,
args.crop,
decimation_step=decimation_step,
outlier_radius=20 if args.fast_orthophoto else 2)
# Do not execute a second time, since
# We might be doing georeferencing for
# multiple models (3D, 2.5D, ...)
doPointCloudGeo = False
transformPointCloud = False
else:
log.ODM_WARNING('Found a valid georeferenced model in: %s' %
tree.odm_georeferencing_model_laz)
outputs.reconstruction = reconstruction
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Georeferencing')
log.ODM_INFO('Running ODM Georeferencing Cell - Finished')
return ecto.OK if args.end_with != 'odm_georeferencing' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM OpenSfM Cell')
# get inputs
tree = self.inputs.tree
args = self.inputs.args
photos = self.inputs.photos
if not photos:
log.ODM_ERROR('Not enough photos in photos array to start OpenSfM')
return ecto.QUIT
# create working directories
system.mkdir_p(tree.opensfm)
system.mkdir_p(tree.pmvs)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'opensfm') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'opensfm' in args.rerun_from)
if not args.use_pmvs:
output_file = tree.opensfm_model
if args.fast_orthophoto:
output_file = io.join_paths(tree.opensfm, 'reconstruction.ply')
else:
output_file = tree.opensfm_reconstruction
# check if reconstruction was done before
if not io.file_exists(output_file) or rerun_cell:
# create file list
list_path = io.join_paths(tree.opensfm, 'image_list.txt')
has_alt = True
with open(list_path, 'w') as fout:
for photo in photos:
if not photo.altitude:
has_alt = False
fout.write('%s\n' % photo.path_file)
# create config file for OpenSfM
config = [
"use_exif_size: %s" %
('no' if not self.params.use_exif_size else 'yes'),
"feature_process_size: %s" % self.params.feature_process_size,
"feature_min_frames: %s" % self.params.feature_min_frames,
"processes: %s" % self.params.processes,
"matching_gps_neighbors: %s" %
self.params.matching_gps_neighbors,
"optimize_camera_parameters: %s" %
('no' if self.params.fixed_camera_params else 'yes')
]
if has_alt:
log.ODM_DEBUG(
"Altitude data detected, enabling it for GPS alignment")
config.append("use_altitude_tag: True")
config.append("align_method: naive")
if args.use_hybrid_bundle_adjustment:
log.ODM_DEBUG("Enabling hybrid bundle adjustment")
config.append(
"bundle_interval: 100"
) # Bundle after adding 'bundle_interval' cameras
config.append(
"bundle_new_points_ratio: 1.2"
) # Bundle when (new points) / (bundled points) > bundle_new_points_ratio
config.append(
"local_bundle_radius: 1"
) # Max image graph distance for images to be included in local bundle adjustment
if args.matcher_distance > 0:
config.append("matching_gps_distance: %s" %
self.params.matching_gps_distance)
# write config file
config_filename = io.join_paths(tree.opensfm, 'config.yaml')
with open(config_filename, 'w') as fout:
fout.write("\n".join(config))
# run OpenSfM reconstruction
matched_done_file = io.join_paths(tree.opensfm,
'matching_done.txt')
if not io.file_exists(matched_done_file) or rerun_cell:
system.run('PYTHONPATH=%s %s/bin/opensfm extract_metadata %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
system.run('PYTHONPATH=%s %s/bin/opensfm detect_features %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
system.run('PYTHONPATH=%s %s/bin/opensfm match_features %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
with open(matched_done_file, 'w') as fout:
fout.write("Matching done!\n")
else:
log.ODM_WARNING(
'Found a feature matching done progress file in: %s' %
matched_done_file)
if not io.file_exists(tree.opensfm_tracks) or rerun_cell:
system.run('PYTHONPATH=%s %s/bin/opensfm create_tracks %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
else:
log.ODM_WARNING('Found a valid OpenSfM tracks file in: %s' %
tree.opensfm_tracks)
if not io.file_exists(tree.opensfm_reconstruction) or rerun_cell:
system.run('PYTHONPATH=%s %s/bin/opensfm reconstruct %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
else:
log.ODM_WARNING(
'Found a valid OpenSfM reconstruction file in: %s' %
tree.opensfm_reconstruction)
if not io.file_exists(
tree.opensfm_reconstruction_meshed) or rerun_cell:
system.run('PYTHONPATH=%s %s/bin/opensfm mesh %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
else:
log.ODM_WARNING(
'Found a valid OpenSfM meshed reconstruction file in: %s' %
tree.opensfm_reconstruction_meshed)
if not args.use_pmvs:
if not io.file_exists(
tree.opensfm_reconstruction_nvm) or rerun_cell:
system.run(
'PYTHONPATH=%s %s/bin/opensfm export_visualsfm %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
else:
log.ODM_WARNING(
'Found a valid OpenSfM NVM reconstruction file in: %s'
% tree.opensfm_reconstruction_nvm)
system.run('PYTHONPATH=%s %s/bin/opensfm undistort %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
# Skip dense reconstruction if necessary and export
# sparse reconstruction instead
if args.fast_orthophoto:
system.run(
'PYTHONPATH=%s %s/bin/opensfm export_ply --no-cameras %s'
% (context.pyopencv_path, context.opensfm_path,
tree.opensfm))
else:
system.run(
'PYTHONPATH=%s %s/bin/opensfm compute_depthmaps %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
else:
log.ODM_WARNING(
'Found a valid OpenSfM reconstruction file in: %s' %
tree.opensfm_reconstruction)
# check if reconstruction was exported to bundler before
if not io.file_exists(tree.opensfm_bundle_list) or rerun_cell:
# convert back to bundler's format
system.run(
'PYTHONPATH=%s %s/bin/export_bundler %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
else:
log.ODM_WARNING('Found a valid Bundler file in: %s' %
tree.opensfm_reconstruction)
if args.use_pmvs:
# check if reconstruction was exported to pmvs before
if not io.file_exists(tree.pmvs_visdat) or rerun_cell:
# run PMVS converter
system.run('PYTHONPATH=%s %s/bin/export_pmvs %s --output %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm, tree.pmvs))
else:
log.ODM_WARNING('Found a valid CMVS file in: %s' %
tree.pmvs_visdat)
if args.time:
system.benchmark(start_time, tree.benchmarking, 'OpenSfM')
log.ODM_INFO('Running ODM OpenSfM Cell - Finished')
return ecto.OK if args.end_with != 'opensfm' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running OMD OrthoPhoto Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
# define paths and create working directories
system.mkdir_p(tree.odm_orthophoto)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_orthophoto') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_orthophoto' in args.rerun_from)
if not io.file_exists(tree.odm_orthophoto_file) or rerun_cell:
# odm_orthophoto definitions
kwargs = {
'bin': context.odm_modules_path,
'model_geo': tree.odm_georeferencing_model_obj_geo,
'log': tree.odm_orthophoto_log,
'ortho': tree.odm_orthophoto_file,
'corners': tree.odm_orthophoto_corners,
'res': self.params.resolution
}
# run odm_orthophoto
system.run('{bin}/odm_orthophoto -inputFile {model_geo} '
'-logFile {log} -outputFile {ortho} -resolution {res} '
'-outputCornerFile {corners}'.format(**kwargs))
# Create georeferenced GeoTiff
geotiffcreated = False
georef = types.ODM_GeoRef()
# creates the coord refs # TODO I don't want to have to do this twice- after odm_georef
georef.parse_coordinate_system(tree.odm_georeferencing_coords)
if georef.epsg and georef.utm_east_offset and georef.utm_north_offset:
ulx = uly = lrx = lry = 0.0
with open(tree.odm_orthophoto_corners) as f:
for lineNumber, line in enumerate(f):
if lineNumber == 0:
tokens = line.split(' ')
if len(tokens) == 4:
ulx = float(tokens[0]) + \
float(georef.utm_east_offset)
lry = float(tokens[1]) + \
float(georef.utm_north_offset)
lrx = float(tokens[2]) + \
float(georef.utm_east_offset)
uly = float(tokens[3]) + \
float(georef.utm_north_offset)
log.ODM_INFO('Creating GeoTIFF')
kwargs = {
'ulx': ulx,
'uly': uly,
'lrx': lrx,
'lry': lry,
'epsg': georef.epsg,
'png': tree.odm_orthophoto_file,
'tiff': tree.odm_orthophoto_tif,
'log': tree.odm_orthophoto_tif_log
}
system.run('gdal_translate -a_ullr {ulx} {uly} {lrx} {lry} '
'-co TILED=yes '
'-co COMPRESS=DEFLATE '
'-co PREDICTOR=2 '
'-co BLOCKXSIZE=512 '
'-co BLOCKYSIZE=512 '
'-co NUM_THREADS=ALL_CPUS '
'-a_srs \"EPSG:{epsg}\" {png} {tiff} > {log}'.format(**kwargs))
geotiffcreated = True
if not geotiffcreated:
log.ODM_WARNING('No geo-referenced orthophoto created due '
'to missing geo-referencing or corner coordinates.')
else:
log.ODM_WARNING('Found a valid orthophoto in: %s' % tree.odm_orthophoto_file)
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Orthophoto')
log.ODM_INFO('Running ODM OrthoPhoto Cell - Finished')
return ecto.OK if args.end_with != 'odm_orthophoto' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM DEM Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
las_model_found = io.file_exists(tree.odm_georeferencing_model_las)
env_paths = [context.superbuild_bin_path]
# Just to make sure
l2d_module_installed = True
try:
system.run('l2d_classify --help > /dev/null', env_paths)
except:
log.ODM_WARNING('lidar2dems is not installed properly')
l2d_module_installed = False
log.ODM_INFO('Create DSM: ' + str(args.dsm))
log.ODM_INFO('Create DTM: ' + str(args.dtm))
log.ODM_INFO('DEM input file {0} found: {1}'.format(
tree.odm_georeferencing_model_las, str(las_model_found)))
# Do we need to process anything here?
if (args.dsm or args.dtm) and las_model_found and l2d_module_installed:
# define paths and create working directories
odm_dem_root = tree.path('odm_dem')
system.mkdir_p(odm_dem_root)
dsm_output_filename = os.path.join(odm_dem_root, 'dsm.tif')
dtm_output_filename = os.path.join(odm_dem_root, 'dtm.tif')
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_dem') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_dem' in args.rerun_from)
if (args.dtm and not io.file_exists(dtm_output_filename)) or \
(args.dsm and not io.file_exists(dsm_output_filename)) or \
rerun_cell:
# Process with lidar2dems
terrain_params_map = {
'flatnonforest': (1, 3),
'flatforest': (1, 2),
'complexnonforest': (5, 2),
'complexforest': (10, 2)
}
terrain_params = terrain_params_map[
args.dem_terrain_type.lower()]
kwargs = {
'verbose': '-v' if self.params.verbose else '',
'slope': terrain_params[0],
'cellsize': terrain_params[1],
'outdir': odm_dem_root,
'site': ''
}
if args.crop > 0:
bounds_shapefile_path = os.path.join(
tree.odm_georeferencing,
'odm_georeferenced_model.bounds.shp')
if os.path.exists(bounds_shapefile_path):
kwargs['site'] = '-s {}'.format(bounds_shapefile_path)
l2d_params = '--slope {slope} --cellsize {cellsize} ' \
'{verbose} ' \
'-o {site} ' \
'--outdir {outdir}'.format(**kwargs)
approximate = '--approximate' if args.dem_approximate else ''
# Classify only if we need a DTM
run_classification = args.dtm
if run_classification:
system.run(
'l2d_classify {0} --decimation {1} '
'{2} --initialDistance {3} {4}'.format(
l2d_params, args.dem_decimation, approximate,
args.dem_initial_distance,
tree.odm_georeferencing), env_paths)
else:
log.ODM_INFO(
"Will skip classification, only DSM is needed")
l2d_classified_pattern = 'odm_georeferenced_model.bounds-0_l2d_s{slope}c{cellsize}.las' if args.crop > 0 else 'l2d_s{slope}c{cellsize}.las'
copyfile(
tree.odm_georeferencing_model_las,
os.path.join(odm_dem_root,
l2d_classified_pattern.format(**kwargs)))
products = []
if args.dsm: products.append('dsm')
if args.dtm: products.append('dtm')
radius_steps = [args.dem_resolution]
for _ in range(args.dem_gapfill_steps - 1):
radius_steps.append(
radius_steps[-1] *
3) # 3 is arbitrary, maybe there's a better value?
for product in products:
demargs = {
'product':
product,
'indir':
odm_dem_root,
'l2d_params':
l2d_params,
'maxsd':
args.dem_maxsd,
'maxangle':
args.dem_maxangle,
'resolution':
args.dem_resolution,
'radius_steps':
' '.join(map(str, radius_steps)),
'gapfill':
'--gapfill' if args.dem_gapfill_steps > 0 else '',
# If we didn't run a classification, we should pass the decimate parameter here
'decimation':
'--decimation {0}'.format(args.dem_decimation)
if not run_classification else ''
}
system.run(
'l2d_dems {product} {indir} {l2d_params} '
'--maxsd {maxsd} --maxangle {maxangle} '
'--resolution {resolution} --radius {radius_steps} '
'{decimation} '
'{gapfill} '.format(**demargs), env_paths)
# Rename final output
if product == 'dsm':
dsm_pattern = 'odm_georeferenced_model.bounds-0_dsm.idw.tif' if args.crop > 0 else 'dsm.idw.tif'
os.rename(os.path.join(odm_dem_root, dsm_pattern),
dsm_output_filename)
elif product == 'dtm':
dtm_pattern = 'odm_georeferenced_model.bounds-0_dsm.idw.tif' if args.crop > 0 else 'dtm.idw.tif'
os.rename(os.path.join(odm_dem_root, dtm_pattern),
dtm_output_filename)
else:
log.ODM_WARNING('Found existing outputs in: %s' % odm_dem_root)
else:
log.ODM_WARNING('DEM will not be generated')
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Dem')
log.ODM_INFO('Running ODM DEM Cell - Finished')
return ecto.OK if args.end_with != 'odm_dem' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM Orthophoto Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
reconstruction = inputs.reconstruction
verbose = '-verbose' if self.params.verbose else ''
# define paths and create working directories
system.mkdir_p(tree.odm_orthophoto)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_orthophoto') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_orthophoto' in args.rerun_from)
if not io.file_exists(tree.odm_orthophoto_file) or rerun_cell:
# odm_orthophoto definitions
kwargs = {
'bin': context.odm_modules_path,
'log': tree.odm_orthophoto_log,
'ortho': tree.odm_orthophoto_file,
'corners': tree.odm_orthophoto_corners,
'res': 1.0 / (gsd.cap_resolution(self.params.resolution, tree.opensfm_reconstruction, ignore_gsd=args.ignore_gsd) / 100.0),
'verbose': verbose
}
# Have geo coordinates?
georef = reconstruction.georef
# Check if the georef object is initialized
# (during a --rerun this might not be)
# TODO: we should move this to a more central
# location (perhaps during the dataset initialization)
if georef and not georef.utm_east_offset:
georeferencing_dir = tree.odm_georeferencing if args.use_3dmesh and not args.skip_3dmodel else tree.odm_25dgeoreferencing
odm_georeferencing_model_txt_geo_file = os.path.join(georeferencing_dir, tree.odm_georeferencing_model_txt_geo)
if io.file_exists(odm_georeferencing_model_txt_geo_file):
georef.extract_offsets(odm_georeferencing_model_txt_geo_file)
else:
log.ODM_WARNING('Cannot read UTM offset from {}. An orthophoto will not be generated.'.format(odm_georeferencing_model_txt_geo_file))
if georef:
if args.use_3dmesh:
kwargs['model_geo'] = os.path.join(tree.odm_texturing, tree.odm_georeferencing_model_obj_geo)
else:
kwargs['model_geo'] = os.path.join(tree.odm_25dtexturing, tree.odm_georeferencing_model_obj_geo)
else:
if args.use_3dmesh:
kwargs['model_geo'] = os.path.join(tree.odm_texturing, tree.odm_textured_model_obj)
else:
kwargs['model_geo'] = os.path.join(tree.odm_25dtexturing, tree.odm_textured_model_obj)
# run odm_orthophoto
system.run('{bin}/odm_orthophoto -inputFile {model_geo} '
'-logFile {log} -outputFile {ortho} -resolution {res} {verbose} '
'-outputCornerFile {corners}'.format(**kwargs))
# Create georeferenced GeoTiff
geotiffcreated = False
if georef and georef.projection and georef.utm_east_offset and georef.utm_north_offset:
ulx = uly = lrx = lry = 0.0
with open(tree.odm_orthophoto_corners) as f:
for lineNumber, line in enumerate(f):
if lineNumber == 0:
tokens = line.split(' ')
if len(tokens) == 4:
ulx = float(tokens[0]) + \
float(georef.utm_east_offset)
lry = float(tokens[1]) + \
float(georef.utm_north_offset)
lrx = float(tokens[2]) + \
float(georef.utm_east_offset)
uly = float(tokens[3]) + \
float(georef.utm_north_offset)
log.ODM_INFO('Creating GeoTIFF')
kwargs = {
'ulx': ulx,
'uly': uly,
'lrx': lrx,
'lry': lry,
'tiled': '' if self.params.no_tiled else '-co TILED=yes ',
'compress': self.params.compress,
'predictor': '-co PREDICTOR=2 ' if self.params.compress in
['LZW', 'DEFLATE'] else '',
'proj': georef.projection.srs,
'bigtiff': self.params.bigtiff,
'png': tree.odm_orthophoto_file,
'tiff': tree.odm_orthophoto_tif,
'log': tree.odm_orthophoto_tif_log,
'max_memory': get_max_memory(),
'threads': self.params.max_concurrency
}
system.run('gdal_translate -a_ullr {ulx} {uly} {lrx} {lry} '
'{tiled} '
'-co BIGTIFF={bigtiff} '
'-co COMPRESS={compress} '
'{predictor} '
'-co BLOCKXSIZE=512 '
'-co BLOCKYSIZE=512 '
'-co NUM_THREADS={threads} '
'-a_srs \"{proj}\" '
'--config GDAL_CACHEMAX {max_memory}% '
'{png} {tiff} > {log}'.format(**kwargs))
if args.crop > 0:
shapefile_path = os.path.join(tree.odm_georeferencing, 'odm_georeferenced_model.bounds.shp')
Cropper.crop(shapefile_path, tree.odm_orthophoto_tif, {
'TILED': 'NO' if self.params.no_tiled else 'YES',
'COMPRESS': self.params.compress,
'PREDICTOR': '2' if self.params.compress in ['LZW', 'DEFLATE'] else '1',
'BIGTIFF': self.params.bigtiff,
'BLOCKXSIZE': 512,
'BLOCKYSIZE': 512,
'NUM_THREADS': self.params.max_concurrency
})
if self.params.build_overviews:
log.ODM_DEBUG("Building Overviews")
kwargs = {
'orthophoto': tree.odm_orthophoto_tif,
'log': tree.odm_orthophoto_gdaladdo_log
}
# Run gdaladdo
system.run('gdaladdo -ro -r average '
'--config BIGTIFF_OVERVIEW IF_SAFER '
'--config COMPRESS_OVERVIEW JPEG '
'{orthophoto} 2 4 8 16 > {log}'.format(**kwargs))
geotiffcreated = True
if not geotiffcreated:
log.ODM_WARNING('No geo-referenced orthophoto created due '
'to missing geo-referencing or corner coordinates.')
else:
log.ODM_WARNING('Found a valid orthophoto in: %s' % tree.odm_orthophoto_file)
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Orthophoto')
log.ODM_INFO('Running ODM OrthoPhoto Cell - Finished')
return ecto.OK if args.end_with != 'odm_orthophoto' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM Meshing Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
verbose = '-verbose' if self.params.verbose else ''
# define paths and create working directories
system.mkdir_p(tree.odm_meshing)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_meshing') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_meshing' in args.rerun_from)
infile = tree.opensfm_model
if args.use_pmvs:
infile = tree.pmvs_model
if not io.file_exists(tree.odm_mesh) or rerun_cell:
log.ODM_DEBUG('Writing ODM Mesh file in: %s' % tree.odm_mesh)
kwargs = {
'bin': context.odm_modules_path,
'outfile': tree.odm_mesh,
'infile': infile,
'log': tree.odm_meshing_log,
'max_vertex': self.params.max_vertex,
'oct_tree': self.params.oct_tree,
'samples': self.params.samples,
'solver': self.params.solver,
'verbose': verbose
}
# run meshing binary
system.run(
'{bin}/odm_meshing -inputFile {infile} '
'-outputFile {outfile} -logFile {log} '
'-maxVertexCount {max_vertex} -octreeDepth {oct_tree} {verbose} '
'-samplesPerNode {samples} -solverDivide {solver}'.format(
**kwargs))
else:
log.ODM_WARNING('Found a valid ODM Mesh file in: %s' %
tree.odm_mesh)
# Do we need to generate a 2.5D mesh also?
if args.use_25dmesh:
if not io.file_exists(tree.odm_25dmesh) or rerun_cell:
log.ODM_DEBUG('Writing ODM 2.5D Mesh file in: %s' %
tree.odm_25dmesh)
kwargs = {
'bin': context.odm_modules_path,
'outfile': tree.odm_25dmesh,
'infile': infile,
'log': tree.odm_25dmeshing_log,
'verbose': verbose,
'max_vertex': self.params.max_vertex,
'remove_outliers': self.params.remove_outliers,
'wlop_iterations': self.params.wlop_iterations
}
# run 2.5D meshing binary
system.run(
'{bin}/odm_25dmeshing -inputFile {infile} '
'-outputFile {outfile} -logFile {log} '
'-maxVertexCount {max_vertex} -outliersRemovalPercentage {remove_outliers} '
'-wlopIterations {wlop_iterations} {verbose}'.format(
**kwargs))
else:
log.ODM_WARNING('Found a valid ODM 2.5D Mesh file in: %s' %
tree.odm_25dmesh)
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Meshing')
log.ODM_INFO('Running ODM Meshing Cell - Finished')
return ecto.OK if args.end_with != 'odm_meshing' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM Georeferencing Cell')
# get inputs
args = inputs.args
tree = inputs.tree
reconstruction = inputs.reconstruction
gcpfile = tree.odm_georeferencing_gcp
doPointCloudGeo = True
transformPointCloud = True
verbose = '-verbose' if self.params.verbose else ''
geo_ref = reconstruction.georef
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_georeferencing') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_georeferencing' in args.rerun_from)
runs = [{
'georeferencing_dir': tree.odm_georeferencing,
'texturing_dir': tree.odm_texturing,
'model': os.path.join(tree.odm_texturing, tree.odm_textured_model_obj)
}]
if args.skip_3dmodel:
runs = []
if not args.use_3dmesh:
# Make sure 2.5D mesh is georeferenced before the 3D mesh
# Because it will be used to calculate a transform
# for the point cloud. If we use the 3D model transform,
# DEMs and orthophoto might not align!
runs.insert(0, {
'georeferencing_dir': tree.odm_25dgeoreferencing,
'texturing_dir': tree.odm_25dtexturing,
'model': os.path.join(tree.odm_25dtexturing, tree.odm_textured_model_obj)
})
for r in runs:
odm_georeferencing_model_obj_geo = os.path.join(r['texturing_dir'], tree.odm_georeferencing_model_obj_geo)
odm_georeferencing_log = os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_log)
odm_georeferencing_transform_file = os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_transform_file)
odm_georeferencing_model_txt_geo_file = os.path.join(r['georeferencing_dir'], tree.odm_georeferencing_model_txt_geo)
if not io.file_exists(odm_georeferencing_model_obj_geo) or \
not io.file_exists(tree.odm_georeferencing_model_laz) or rerun_cell:
# odm_georeference definitions
kwargs = {
'bin': context.odm_modules_path,
'input_pc_file': tree.filtered_point_cloud,
'bundle': tree.opensfm_bundle,
'imgs': tree.dataset_raw,
'imgs_list': tree.opensfm_bundle_list,
'model': r['model'],
'log': odm_georeferencing_log,
'input_trans_file': tree.opensfm_transformation,
'transform_file': odm_georeferencing_transform_file,
'coords': tree.odm_georeferencing_coords,
'output_pc_file': tree.odm_georeferencing_model_laz,
'geo_sys': odm_georeferencing_model_txt_geo_file,
'model_geo': odm_georeferencing_model_obj_geo,
'gcp': gcpfile,
'verbose': verbose
}
if transformPointCloud:
kwargs['pc_params'] = '-inputPointCloudFile {input_pc_file} -outputPointCloudFile {output_pc_file}'.format(**kwargs)
if geo_ref and geo_ref.projection and geo_ref.projection.srs:
kwargs['pc_params'] += ' -outputPointCloudSrs %s' % pipes.quote(geo_ref.projection.srs)
else:
log.ODM_WARNING('NO SRS: The output point cloud will not have a SRS.')
else:
kwargs['pc_params'] = ''
# Check to see if the GCP file exists
if not self.params.use_exif and (self.params.gcp_file or tree.odm_georeferencing_gcp):
log.ODM_INFO('Found %s' % gcpfile)
try:
system.run('{bin}/odm_georef -bundleFile {bundle} -imagesPath {imgs} -imagesListPath {imgs_list} '
'-inputFile {model} -outputFile {model_geo} '
'{pc_params} {verbose} '
'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys} -gcpFile {gcp} '
'-outputCoordFile {coords}'.format(**kwargs))
except Exception:
log.ODM_EXCEPTION('Georeferencing failed. ')
return ecto.QUIT
elif io.file_exists(tree.opensfm_transformation) and io.file_exists(tree.odm_georeferencing_coords):
log.ODM_INFO('Running georeferencing with OpenSfM transformation matrix')
system.run('{bin}/odm_georef -bundleFile {bundle} -inputTransformFile {input_trans_file} -inputCoordFile {coords} '
'-inputFile {model} -outputFile {model_geo} '
'{pc_params} {verbose} '
'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys}'.format(**kwargs))
elif io.file_exists(tree.odm_georeferencing_coords):
log.ODM_INFO('Running georeferencing with generated coords file.')
system.run('{bin}/odm_georef -bundleFile {bundle} -inputCoordFile {coords} '
'-inputFile {model} -outputFile {model_geo} '
'{pc_params} {verbose} '
'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys}'.format(**kwargs))
else:
log.ODM_WARNING('Georeferencing failed. Make sure your '
'photos have geotags in the EXIF or you have '
'provided a GCP file. ')
doPointCloudGeo = False # skip the rest of the georeferencing
if doPointCloudGeo:
# update images metadata
geo_ref.extract_offsets(odm_georeferencing_model_txt_geo_file)
reconstruction.georef = geo_ref
# XYZ point cloud output
if args.pc_csv:
log.ODM_INFO("Creating geo-referenced CSV file (XYZ format)")
system.run("pdal translate -i \"{}\" "
"-o \"{}\" "
"--writers.text.format=csv "
"--writers.text.order=\"X,Y,Z\" "
"--writers.text.keep_unspecified=false ".format(
tree.odm_georeferencing_model_laz,
tree.odm_georeferencing_xyz_file))
# LAS point cloud output
if args.pc_las:
log.ODM_INFO("Creating geo-referenced LAS file")
system.run("pdal translate -i \"{}\" "
"-o \"{}\" ".format(
tree.odm_georeferencing_model_laz,
tree.odm_georeferencing_model_las))
if args.crop > 0:
log.ODM_INFO("Calculating cropping area and generating bounds shapefile from point cloud")
cropper = Cropper(tree.odm_georeferencing, 'odm_georeferenced_model')
decimation_step = 40 if args.fast_orthophoto or args.use_opensfm_dense else 90
# More aggressive decimation for large datasets
if not args.fast_orthophoto:
decimation_step *= int(len(reconstruction.photos) / 1000) + 1
cropper.create_bounds_shapefile(tree.odm_georeferencing_model_laz, args.crop,
decimation_step=decimation_step,
outlier_radius=20 if args.fast_orthophoto else 2)
# Do not execute a second time, since
# We might be doing georeferencing for
# multiple models (3D, 2.5D, ...)
doPointCloudGeo = False
transformPointCloud = False
else:
log.ODM_WARNING('Found a valid georeferenced model in: %s'
% tree.odm_georeferencing_model_laz)
outputs.reconstruction = reconstruction
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Georeferencing')
log.ODM_INFO('Running ODM Georeferencing Cell - Finished')
return ecto.OK if args.end_with != 'odm_georeferencing' else ecto.QUIT
class ODMGeoreferencingCell(ecto.Cell):
def declare_params(self, params):
params.declare(
"gcp_file", 'path to the file containing the ground control '
'points used for georeferencing.The file needs to '
'be on the following line format: \neasting '
'northing height pixelrow pixelcol imagename', 'gcp_list.txt')
params.declare("use_gcp",
'set to true for enabling GCPs from the file above',
False)
params.declare("img_size", 'image size used in calibration', 2400)
def declare_io(self, params, inputs, outputs):
inputs.declare("tree", "Struct with paths", [])
inputs.declare("args", "The application arguments.", {})
inputs.declare("photos", "list of ODMPhoto's", [])
inputs.declare("reconstruction", "list of ODMReconstructions", [])
outputs.declare("reconstruction", "list of ODMReconstructions", [])
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM Georeferencing Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
gcpfile = io.join_paths(tree.root_path, self.params.gcp_file)
# define paths and create working directories
system.mkdir_p(tree.odm_georeferencing)
# in case a gcp file it's not provided, let's try to generate it using
# images metadata. Internally calls jhead.
if not self.params.use_gcp and \
not io.file_exists(tree.odm_georeferencing_coords):
log.ODM_WARNING('Warning: No coordinates file. '
'Generating coordinates file in: %s' %
tree.odm_georeferencing_coords)
try:
# odm_georeference definitions
kwargs = {
'bin': context.odm_modules_path,
'imgs': tree.dataset_resize,
'imgs_list': tree.opensfm_bundle_list,
'coords': tree.odm_georeferencing_coords,
'log': tree.odm_georeferencing_utm_log
}
# run UTM extraction binary
system.run(
'{bin}/odm_extract_utm -imagesPath {imgs}/ '
'-imageListFile {imgs_list} -outputCoordFile {coords} '
'-logFile {log}'.format(**kwargs))
except Exception, e:
log.ODM_ERROR(
'Could not generate GCP file from images metadata.'
'Consider rerunning with argument --odm_georeferencing-useGcp'
' and provide a proper GCP file')
log.ODM_ERROR(e)
return ecto.QUIT
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_georeferencing') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_georeferencing' in args.rerun_from)
if not io.file_exists(tree.odm_georeferencing_model_obj_geo) or \
not io.file_exists(tree.odm_georeferencing_model_ply_geo) or rerun_cell:
# odm_georeference definitions
kwargs = {
'bin': context.odm_modules_path,
'bundle': tree.opensfm_bundle,
'imgs': tree.dataset_resize,
'imgs_list': tree.opensfm_bundle_list,
'model': tree.odm_textured_model_obj,
'log': tree.odm_georeferencing_log,
'coords': tree.odm_georeferencing_coords,
'pc_geo': tree.odm_georeferencing_model_ply_geo,
'geo_sys': tree.odm_georeferencing_model_txt_geo,
'model_geo': tree.odm_georeferencing_model_obj_geo,
'size': self.params.img_size,
'gcp': gcpfile,
}
if args.use_opensfm_pointcloud:
kwargs['pc'] = tree.opensfm_model
else:
kwargs['pc'] = tree.pmvs_model
if self.params.use_gcp and \
io.file_exists(gcpfile):
system.run(
'{bin}/odm_georef -bundleFile {bundle} -imagesPath {imgs} -imagesListPath {imgs_list} '
'-bundleResizedTo {size} -inputFile {model} -outputFile {model_geo} '
'-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} '
'-logFile {log} -georefFileOutputPath {geo_sys} -gcpFile {gcp} '
'-outputCoordFile {coords}'.format(**kwargs))
else:
system.run(
'{bin}/odm_georef -bundleFile {bundle} -inputCoordFile {coords} '
'-inputFile {model} -outputFile {model_geo} '
'-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} '
'-logFile {log} -georefFileOutputPath {geo_sys}'.format(
**kwargs))
# update images metadata
geo_ref = types.ODM_GeoRef()
geo_ref.parse_coordinate_system(tree.odm_georeferencing_coords)
for idx, photo in enumerate(self.inputs.photos):
geo_ref.utm_to_latlon(tree.odm_georeferencing_latlon, photo,
idx)
# convert ply model to LAS reference system
geo_ref.convert_to_las(tree.odm_georeferencing_model_ply_geo,
tree.odm_georeferencing_pdal)
# XYZ point cloud output
log.ODM_INFO(
"Creating geo-referenced CSV file (XYZ format, can be used with GRASS to create DEM)"
)
with open(tree.odm_georeferencing_xyz_file, "wb") as csvfile:
csvfile_writer = csv.writer(csvfile, delimiter=",")
reachedpoints = False
with open(tree.odm_georeferencing_model_ply_geo) as f:
for lineNumber, line in enumerate(f):
if reachedpoints:
tokens = line.split(" ")
csv_line = [
float(tokens[0]) + geo_ref.utm_east_offset,
float(tokens[1]) + geo_ref.utm_north_offset,
tokens[2]
]
csvfile_writer.writerow(csv_line)
if line.startswith("end_header"):
reachedpoints = True
csvfile.close()
else:
log.ODM_WARNING('Found a valid georeferenced model in: %s' %
tree.odm_georeferencing_model_ply_geo)
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Georeferencing')
log.ODM_INFO('Running ODM Georeferencing Cell - Finished')
return ecto.OK if args.end_with != 'odm_georeferencing' else ecto.QUIT
def process(self, inputs, outputs):
# find a file in the root directory
def find(file, dir):
for root, dirs, files in os.walk(dir):
return '/'.join((root, file)) if file in files else None
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM Georeferencing Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
gcpfile = io.join_paths(tree.root_path, self.params.gcp_file) \
if self.params.gcp_file else find('gcp_list.txt', tree.root_path)
geocreated = True
verbose = '-verbose' if self.params.verbose else ''
# define paths and create working directories
system.mkdir_p(tree.odm_georeferencing)
# in case a gcp file it's not provided, let's try to generate it using
# images metadata. Internally calls jhead.
log.ODM_DEBUG(self.params.gcp_file)
if not self.params.gcp_file: # and \
# not io.file_exists(tree.odm_georeferencing_coords):
log.ODM_WARNING('No coordinates file. '
'Generating coordinates file: %s'
% tree.odm_georeferencing_coords)
# odm_georeference definitions
kwargs = {
'bin': context.odm_modules_path,
'imgs': tree.dataset_resize,
'imgs_list': tree.opensfm_bundle_list,
'coords': tree.odm_georeferencing_coords,
'log': tree.odm_georeferencing_utm_log,
'verbose': verbose
}
# run UTM extraction binary
extract_utm = system.run_and_return('{bin}/odm_extract_utm -imagesPath {imgs}/ '
'-imageListFile {imgs_list} -outputCoordFile {coords} {verbose} '
'-logFile {log}'.format(**kwargs))
if extract_utm != '':
log.ODM_WARNING('Could not generate coordinates file. '
'Ignore if there is a GCP file. Error: %s'
% extract_utm)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_georeferencing') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_georeferencing' in args.rerun_from)
if not io.file_exists(tree.odm_georeferencing_model_obj_geo) or \
not io.file_exists(tree.odm_georeferencing_model_ply_geo) or rerun_cell:
# odm_georeference definitions
kwargs = {
'bin': context.odm_modules_path,
'bundle': tree.opensfm_bundle,
'imgs': tree.dataset_resize,
'imgs_list': tree.opensfm_bundle_list,
'model': tree.odm_textured_model_obj,
'log': tree.odm_georeferencing_log,
'coords': tree.odm_georeferencing_coords,
'pc_geo': tree.odm_georeferencing_model_ply_geo,
'geo_sys': tree.odm_georeferencing_model_txt_geo,
'model_geo': tree.odm_georeferencing_model_obj_geo,
'size': self.params.img_size,
'gcp': gcpfile,
'verbose': verbose
}
if args.use_opensfm_pointcloud:
kwargs['pc'] = tree.opensfm_model
else:
kwargs['pc'] = tree.pmvs_model
# Check to see if the GCP file exists
if not self.params.use_exif and (self.params.gcp_file or find('gcp_list.txt', tree.root_path)):
log.ODM_INFO('Found %s' % gcpfile)
try:
system.run('{bin}/odm_georef -bundleFile {bundle} -imagesPath {imgs} -imagesListPath {imgs_list} '
'-bundleResizedTo {size} -inputFile {model} -outputFile {model_geo} '
'-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} {verbose} '
'-logFile {log} -georefFileOutputPath {geo_sys} -gcpFile {gcp} '
'-outputCoordFile {coords}'.format(**kwargs))
except Exception:
log.ODM_EXCEPTION('Georeferencing failed. ')
return ecto.QUIT
elif io.file_exists(tree.odm_georeferencing_coords):
log.ODM_INFO('Running georeferencing with generated coords file.')
system.run('{bin}/odm_georef -bundleFile {bundle} -inputCoordFile {coords} '
'-inputFile {model} -outputFile {model_geo} '
'-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} {verbose} '
'-logFile {log} -georefFileOutputPath {geo_sys}'.format(**kwargs))
else:
log.ODM_WARNING('Georeferencing failed. Make sure your '
'photos have geotags in the EXIF or you have '
'provided a GCP file. ')
geocreated = False # skip the rest of the georeferencing
if geocreated:
# update images metadata
geo_ref = types.ODM_GeoRef()
geo_ref.parse_coordinate_system(tree.odm_georeferencing_coords)
for idx, photo in enumerate(self.inputs.photos):
geo_ref.utm_to_latlon(tree.odm_georeferencing_latlon, photo, idx)
# convert ply model to LAS reference system
geo_ref.convert_to_las(tree.odm_georeferencing_model_ply_geo,
tree.odm_georeferencing_pdal)
# XYZ point cloud output
log.ODM_INFO("Creating geo-referenced CSV file (XYZ format, can be used with GRASS to create DEM)")
with open(tree.odm_georeferencing_xyz_file, "wb") as csvfile:
csvfile_writer = csv.writer(csvfile, delimiter=",")
reachedpoints = False
with open(tree.odm_georeferencing_model_ply_geo) as f:
for lineNumber, line in enumerate(f):
if reachedpoints:
tokens = line.split(" ")
csv_line = [float(tokens[0])+geo_ref.utm_east_offset,
float(tokens[1])+geo_ref.utm_north_offset,
tokens[2]]
csvfile_writer.writerow(csv_line)
if line.startswith("end_header"):
reachedpoints = True
csvfile.close()
else:
log.ODM_WARNING('Found a valid georeferenced model in: %s'
% tree.odm_georeferencing_model_ply_geo)
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Georeferencing')
log.ODM_INFO('Running ODM Georeferencing Cell - Finished')
return ecto.OK if args.end_with != 'odm_georeferencing' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running MVS Texturing Cell')
# get inputs
args = inputs.args
tree = inputs.tree
reconstruction = inputs.reconstruction
# define paths and create working directories
system.mkdir_p(tree.odm_texturing)
if args.use_25dmesh: system.mkdir_p(tree.odm_25dtexturing)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'mvs_texturing') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'mvs_texturing' in args.rerun_from)
runs = [{
'out_dir': tree.odm_texturing,
'model': tree.odm_mesh,
'force_skip_vis_test': False
}]
if args.fast_orthophoto:
runs = []
if args.use_25dmesh:
runs += [{
'out_dir': tree.odm_25dtexturing,
'model': tree.odm_25dmesh,
# We always skip the visibility test when using the 2.5D mesh
# because many faces end up being narrow, and almost perpendicular
# to the ground plane. The visibility test improperly classifies
# them as "not seen" since the test is done on a single triangle vertex,
# and while one vertex might be occluded, the other two might not.
'force_skip_vis_test': True
}]
for r in runs:
odm_textured_model_obj = os.path.join(r['out_dir'],
tree.odm_textured_model_obj)
if not io.file_exists(odm_textured_model_obj) or rerun_cell:
log.ODM_DEBUG('Writing MVS Textured file in: %s' %
odm_textured_model_obj)
# Format arguments to fit Mvs-Texturing app
skipGeometricVisibilityTest = ""
skipGlobalSeamLeveling = ""
skipLocalSeamLeveling = ""
skipHoleFilling = ""
keepUnseenFaces = ""
if (self.params.skip_vis_test or r['force_skip_vis_test']):
skipGeometricVisibilityTest = "--skip_geometric_visibility_test"
if (self.params.skip_glob_seam_leveling):
skipGlobalSeamLeveling = "--skip_global_seam_leveling"
if (self.params.skip_loc_seam_leveling):
skipLocalSeamLeveling = "--skip_local_seam_leveling"
if (self.params.skip_hole_fill):
skipHoleFilling = "--skip_hole_filling"
if (self.params.keep_unseen_faces):
keepUnseenFaces = "--keep_unseen_faces"
# mvstex definitions
kwargs = {
'bin': context.mvstex_path,
'out_dir': io.join_paths(r['out_dir'],
"odm_textured_model"),
'pmvs_folder': tree.pmvs_rec_path,
'nvm_file': io.join_paths(tree.pmvs_rec_path,
"nvmCams.nvm"),
'model': r['model'],
'dataTerm': self.params.data_term,
'outlierRemovalType': self.params.outlier_rem_type,
'skipGeometricVisibilityTest': skipGeometricVisibilityTest,
'skipGlobalSeamLeveling': skipGlobalSeamLeveling,
'skipLocalSeamLeveling': skipLocalSeamLeveling,
'skipHoleFilling': skipHoleFilling,
'keepUnseenFaces': keepUnseenFaces,
'toneMapping': self.params.tone_mapping
}
if not args.use_pmvs:
kwargs['nvm_file'] = io.join_paths(tree.opensfm,
"reconstruction.nvm")
else:
log.ODM_DEBUG('Generating .nvm file from pmvs output: %s' %
'{nvm_file}'.format(**kwargs))
# Create .nvm camera file.
pmvs2nvmcams.run('{pmvs_folder}'.format(**kwargs),
'{nvm_file}'.format(**kwargs))
# run texturing binary
system.run('{bin} {nvm_file} {model} {out_dir} '
'-d {dataTerm} -o {outlierRemovalType} '
'-t {toneMapping} '
'{skipGeometricVisibilityTest} '
'{skipGlobalSeamLeveling} '
'{skipLocalSeamLeveling} '
'{skipHoleFilling} '
'{keepUnseenFaces}'.format(**kwargs))
else:
log.ODM_WARNING('Found a valid ODM Texture file in: %s' %
odm_textured_model_obj)
outputs.reconstruction = reconstruction
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Texturing')
log.ODM_INFO('Running ODM Texturing Cell - Finished')
return ecto.OK if args.end_with != 'mvs_texturing' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running MVS Texturing Cell')
# get inputs
args = inputs.args
tree = inputs.tree
reconstruction = inputs.reconstruction
# define paths and create working directories
system.mkdir_p(tree.odm_texturing)
if not args.use_3dmesh: system.mkdir_p(tree.odm_25dtexturing)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'mvs_texturing') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'mvs_texturing' in args.rerun_from)
runs = [{
'out_dir': tree.odm_texturing,
'model': tree.odm_mesh,
'nadir': False
}]
if args.skip_3dmodel:
runs = []
if not args.use_3dmesh:
runs += [{
'out_dir': tree.odm_25dtexturing,
'model': tree.odm_25dmesh,
'nadir': True
}]
for r in runs:
odm_textured_model_obj = os.path.join(r['out_dir'], tree.odm_textured_model_obj)
if not io.file_exists(odm_textured_model_obj) or rerun_cell:
log.ODM_DEBUG('Writing MVS Textured file in: %s'
% odm_textured_model_obj)
# Format arguments to fit Mvs-Texturing app
skipGeometricVisibilityTest = ""
skipGlobalSeamLeveling = ""
skipLocalSeamLeveling = ""
skipHoleFilling = ""
keepUnseenFaces = ""
nadir = ""
if (self.params.skip_vis_test):
skipGeometricVisibilityTest = "--skip_geometric_visibility_test"
if (self.params.skip_glob_seam_leveling):
skipGlobalSeamLeveling = "--skip_global_seam_leveling"
if (self.params.skip_loc_seam_leveling):
skipLocalSeamLeveling = "--skip_local_seam_leveling"
if (self.params.skip_hole_fill):
skipHoleFilling = "--skip_hole_filling"
if (self.params.keep_unseen_faces):
keepUnseenFaces = "--keep_unseen_faces"
if (r['nadir']):
nadir = '--nadir_mode'
# mvstex definitions
kwargs = {
'bin': context.mvstex_path,
'out_dir': io.join_paths(r['out_dir'], "odm_textured_model"),
'model': r['model'],
'dataTerm': self.params.data_term,
'outlierRemovalType': self.params.outlier_rem_type,
'skipGeometricVisibilityTest': skipGeometricVisibilityTest,
'skipGlobalSeamLeveling': skipGlobalSeamLeveling,
'skipLocalSeamLeveling': skipLocalSeamLeveling,
'skipHoleFilling': skipHoleFilling,
'keepUnseenFaces': keepUnseenFaces,
'toneMapping': self.params.tone_mapping,
'nadirMode': nadir,
'nadirWeight': 2 ** args.texturing_nadir_weight - 1,
'nvm_file': io.join_paths(tree.opensfm, "reconstruction.nvm")
}
# Make sure tmp directory is empty
mvs_tmp_dir = os.path.join(r['out_dir'], 'tmp')
if io.dir_exists(mvs_tmp_dir):
log.ODM_INFO("Removing old tmp directory {}".format(mvs_tmp_dir))
shutil.rmtree(mvs_tmp_dir)
# run texturing binary
system.run('{bin} {nvm_file} {model} {out_dir} '
'-d {dataTerm} -o {outlierRemovalType} '
'-t {toneMapping} '
'{skipGeometricVisibilityTest} '
'{skipGlobalSeamLeveling} '
'{skipLocalSeamLeveling} '
'{skipHoleFilling} '
'{keepUnseenFaces} '
'{nadirMode} '
'-n {nadirWeight}'.format(**kwargs))
else:
log.ODM_WARNING('Found a valid ODM Texture file in: %s'
% odm_textured_model_obj)
outputs.reconstruction = reconstruction
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Texturing')
log.ODM_INFO('Running ODM Texturing Cell - Finished')
return ecto.OK if args.end_with != 'mvs_texturing' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM Meshing Cell')
# get inputs
args = inputs.args
tree = inputs.tree
reconstruction = inputs.reconstruction
# define paths and create working directories
system.mkdir_p(tree.odm_meshing)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_meshing') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_meshing' in args.rerun_from)
infile = tree.smvs_model
if args.fast_orthophoto:
infile = os.path.join(tree.opensfm, 'reconstruction.ply')
elif args.use_opensfm_dense:
infile = tree.opensfm_model
# Create full 3D model unless --skip-3dmodel is set
if not args.skip_3dmodel:
if not io.file_exists(tree.odm_mesh) or rerun_cell:
log.ODM_DEBUG('Writing ODM Mesh file in: %s' % tree.odm_mesh)
mesh.screened_poisson_reconstruction(
infile,
tree.odm_mesh,
depth=self.params.oct_tree,
samples=self.params.samples,
maxVertexCount=self.params.max_vertex,
pointWeight=self.params.point_weight,
threads=self.params.max_concurrency,
verbose=self.params.verbose)
else:
log.ODM_WARNING('Found a valid ODM Mesh file in: %s' %
tree.odm_mesh)
# Always generate a 2.5D mesh
# unless --use-3dmesh is set.
if not args.use_3dmesh:
if not io.file_exists(tree.odm_25dmesh) or rerun_cell:
log.ODM_DEBUG('Writing ODM 2.5D Mesh file in: %s' %
tree.odm_25dmesh)
ortho_resolution = gsd.cap_resolution(
args.orthophoto_resolution,
tree.opensfm_reconstruction,
ignore_gsd=args.ignore_gsd) / 100.0
dsm_multiplier = max(
1.0,
gsd.rounded_gsd(tree.opensfm_reconstruction,
default_value=4,
ndigits=3,
ignore_gsd=args.ignore_gsd))
# A good DSM size depends on the flight altitude.
# Flights at low altitude need more details (higher resolution)
# Flights at higher altitude benefit from smoother surfaces (lower resolution)
dsm_resolution = ortho_resolution * dsm_multiplier
dsm_radius = dsm_resolution * math.sqrt(2)
# Sparse point clouds benefits from using
# a larger radius interolation --> less holes
if args.fast_orthophoto:
dsm_radius *= 2
log.ODM_DEBUG('ODM 2.5D DSM resolution: %s' % dsm_resolution)
mesh.create_25dmesh(
infile,
tree.odm_25dmesh,
dsm_radius=dsm_radius,
dsm_resolution=dsm_resolution,
depth=self.params.oct_tree,
maxVertexCount=self.params.max_vertex,
samples=self.params.samples,
verbose=self.params.verbose,
max_workers=args.max_concurrency,
method='poisson' if args.fast_orthophoto else 'gridded')
else:
log.ODM_WARNING('Found a valid ODM 2.5D Mesh file in: %s' %
tree.odm_25dmesh)
outputs.reconstruction = reconstruction
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Meshing')
log.ODM_INFO('Running ODM Meshing Cell - Finished')
return ecto.OK if args.end_with != 'odm_meshing' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM Orthophoto Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
reconstruction = inputs.reconstruction
verbose = '-verbose' if self.params.verbose else ''
# define paths and create working directories
system.mkdir_p(tree.odm_orthophoto)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_orthophoto') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_orthophoto' in args.rerun_from)
if not io.file_exists(tree.odm_orthophoto_file) or rerun_cell:
# odm_orthophoto definitions
kwargs = {
'bin':
context.odm_modules_path,
'log':
tree.odm_orthophoto_log,
'ortho':
tree.odm_orthophoto_file,
'corners':
tree.odm_orthophoto_corners,
'res':
1.0 / (gsd.cap_resolution(self.params.resolution,
tree.opensfm_reconstruction,
ignore_gsd=args.ignore_gsd) / 100.0),
'verbose':
verbose
}
# Have geo coordinates?
georef = reconstruction.georef
# Check if the georef object is initialized
# (during a --rerun this might not be)
# TODO: we should move this to a more central
# location (perhaps during the dataset initialization)
if georef and not georef.utm_east_offset:
odm_georeferencing_model_txt_geo_file = os.path.join(
tree.odm_georeferencing,
tree.odm_georeferencing_model_txt_geo)
if io.file_exists(odm_georeferencing_model_txt_geo_file):
georef.extract_offsets(
odm_georeferencing_model_txt_geo_file)
else:
log.ODM_WARNING(
'Cannot read UTM offset from {}. An orthophoto will not be generated.'
.format(odm_georeferencing_model_txt_geo_file))
if georef:
if args.use_3dmesh:
kwargs['model_geo'] = os.path.join(
tree.odm_texturing,
tree.odm_georeferencing_model_obj_geo)
else:
kwargs['model_geo'] = os.path.join(
tree.odm_25dtexturing,
tree.odm_georeferencing_model_obj_geo)
else:
if args.use_3dmesh:
kwargs['model_geo'] = os.path.join(
tree.odm_texturing, tree.odm_textured_model_obj)
else:
kwargs['model_geo'] = os.path.join(
tree.odm_25dtexturing, tree.odm_textured_model_obj)
# run odm_orthophoto
system.run(
'{bin}/odm_orthophoto -inputFile {model_geo} '
'-logFile {log} -outputFile {ortho} -resolution {res} {verbose} '
'-outputCornerFile {corners}'.format(**kwargs))
# Create georeferenced GeoTiff
geotiffcreated = False
if georef and georef.projection and georef.utm_east_offset and georef.utm_north_offset:
ulx = uly = lrx = lry = 0.0
with open(tree.odm_orthophoto_corners) as f:
for lineNumber, line in enumerate(f):
if lineNumber == 0:
tokens = line.split(' ')
if len(tokens) == 4:
ulx = float(tokens[0]) + \
float(georef.utm_east_offset)
lry = float(tokens[1]) + \
float(georef.utm_north_offset)
lrx = float(tokens[2]) + \
float(georef.utm_east_offset)
uly = float(tokens[3]) + \
float(georef.utm_north_offset)
log.ODM_INFO('Creating GeoTIFF')
kwargs = {
'ulx':
ulx,
'uly':
uly,
'lrx':
lrx,
'lry':
lry,
'tiled':
'' if self.params.no_tiled else '-co TILED=yes ',
'compress':
self.params.compress,
'predictor':
'-co PREDICTOR=2 '
if self.params.compress in ['LZW', 'DEFLATE'] else '',
'proj':
georef.projection.srs,
'bigtiff':
self.params.bigtiff,
'png':
tree.odm_orthophoto_file,
'tiff':
tree.odm_orthophoto_tif,
'log':
tree.odm_orthophoto_tif_log,
'max_memory':
get_max_memory(),
'threads':
self.params.max_concurrency
}
system.run('gdal_translate -a_ullr {ulx} {uly} {lrx} {lry} '
'{tiled} '
'-co BIGTIFF={bigtiff} '
'-co COMPRESS={compress} '
'{predictor} '
'-co BLOCKXSIZE=512 '
'-co BLOCKYSIZE=512 '
'-co NUM_THREADS={threads} '
'-a_srs \"{proj}\" '
'--config GDAL_CACHEMAX {max_memory}% '
'{png} {tiff} > {log}'.format(**kwargs))
if args.crop > 0:
shapefile_path = os.path.join(
tree.odm_georeferencing,
'odm_georeferenced_model.bounds.shp')
Cropper.crop(
shapefile_path, tree.odm_orthophoto_tif, {
'TILED':
'NO' if self.params.no_tiled else 'YES',
'COMPRESS':
self.params.compress,
'PREDICTOR':
'2' if self.params.compress in ['LZW', 'DEFLATE']
else '1',
'BIGTIFF':
self.params.bigtiff,
'BLOCKXSIZE':
512,
'BLOCKYSIZE':
512,
'NUM_THREADS':
self.params.max_concurrency
})
if self.params.build_overviews:
log.ODM_DEBUG("Building Overviews")
kwargs = {
'orthophoto': tree.odm_orthophoto_tif,
'log': tree.odm_orthophoto_gdaladdo_log
}
# Run gdaladdo
system.run(
'gdaladdo -ro -r average '
'--config BIGTIFF_OVERVIEW IF_SAFER '
'--config COMPRESS_OVERVIEW JPEG '
'{orthophoto} 2 4 8 16 > {log}'.format(**kwargs))
geotiffcreated = True
if not geotiffcreated:
log.ODM_WARNING(
'No geo-referenced orthophoto created due '
'to missing geo-referencing or corner coordinates.')
else:
log.ODM_WARNING('Found a valid orthophoto in: %s' %
tree.odm_orthophoto_file)
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Orthophoto')
log.ODM_INFO('Running ODM OrthoPhoto Cell - Finished')
return ecto.OK if args.end_with != 'odm_orthophoto' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM DEM Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
las_model_found = io.file_exists(tree.odm_georeferencing_model_laz)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_dem') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_dem' in args.rerun_from)
log.ODM_INFO('Classify: ' + str(args.pc_classify))
log.ODM_INFO('Create DSM: ' + str(args.dsm))
log.ODM_INFO('Create DTM: ' + str(args.dtm))
log.ODM_INFO('DEM input file {0} found: {1}'.format(
tree.odm_georeferencing_model_laz, str(las_model_found)))
# define paths and create working directories
odm_dem_root = tree.path('odm_dem')
if not io.dir_exists(odm_dem_root):
system.mkdir_p(odm_dem_root)
if args.pc_classify and las_model_found:
pc_classify_marker = os.path.join(odm_dem_root,
'pc_classify_done.txt')
if not io.file_exists(pc_classify_marker) or rerun_cell:
log.ODM_INFO(
"Classifying {} using Simple Morphological Filter".format(
tree.odm_georeferencing_model_laz))
commands.classify(tree.odm_georeferencing_model_laz,
args.smrf_scalar,
args.smrf_slope,
args.smrf_threshold,
args.smrf_window,
verbose=args.verbose)
with open(pc_classify_marker, 'w') as f:
f.write('Classify: smrf\n')
f.write('Scalar: {}\n'.format(args.smrf_scalar))
f.write('Slope: {}\n'.format(args.smrf_slope))
f.write('Threshold: {}\n'.format(args.smrf_threshold))
f.write('Window: {}\n'.format(args.smrf_window))
# Do we need to process anything here?
if (args.dsm or args.dtm) and las_model_found:
dsm_output_filename = os.path.join(odm_dem_root, 'dsm.tif')
dtm_output_filename = os.path.join(odm_dem_root, 'dtm.tif')
if (args.dtm and not io.file_exists(dtm_output_filename)) or \
(args.dsm and not io.file_exists(dsm_output_filename)) or \
rerun_cell:
products = []
if args.dsm: products.append('dsm')
if args.dtm: products.append('dtm')
resolution = gsd.cap_resolution(args.dem_resolution,
tree.opensfm_reconstruction,
gsd_error_estimate=-3,
ignore_gsd=args.ignore_gsd)
radius_steps = [(resolution / 100.0) / 2.0]
for _ in range(args.dem_gapfill_steps - 1):
radius_steps.append(
radius_steps[-1] *
2) # 2 is arbitrary, maybe there's a better value?
for product in products:
commands.create_dem(
tree.odm_georeferencing_model_laz,
product,
output_type='idw' if product == 'dtm' else 'max',
radiuses=map(str, radius_steps),
gapfill=args.dem_gapfill_steps > 0,
outdir=odm_dem_root,
resolution=resolution / 100.0,
decimation=args.dem_decimation,
verbose=args.verbose,
max_workers=args.max_concurrency)
if args.crop > 0:
bounds_shapefile_path = os.path.join(
tree.odm_georeferencing,
'odm_georeferenced_model.bounds.shp')
if os.path.exists(bounds_shapefile_path):
Cropper.crop(
bounds_shapefile_path,
os.path.join(odm_dem_root,
"{}.tif".format(product)),
{
'TILED': 'YES',
'COMPRESS': 'LZW',
'BLOCKXSIZE': 512,
'BLOCKYSIZE': 512,
'NUM_THREADS': self.params.max_concurrency
})
else:
log.ODM_WARNING('Found existing outputs in: %s' % odm_dem_root)
else:
log.ODM_WARNING('DEM will not be generated')
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Dem')
log.ODM_INFO('Running ODM DEM Cell - Finished')
return ecto.OK if args.end_with != 'odm_dem' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM Georeferencing Cell')
# get inputs
args = inputs.args
tree = inputs.tree
reconstruction = inputs.reconstruction
gcpfile = tree.odm_georeferencing_gcp
doPointCloudGeo = True
verbose = '-verbose' if self.params.verbose else ''
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_georeferencing') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_georeferencing' in args.rerun_from)
runs = [{
'georeferencing_dir':
tree.odm_georeferencing,
'texturing_dir':
tree.odm_texturing,
'model':
os.path.join(tree.odm_texturing, tree.odm_textured_model_obj)
}]
if args.fast_orthophoto:
runs = []
if args.use_25dmesh:
runs += [{
'georeferencing_dir':
tree.odm_25dgeoreferencing,
'texturing_dir':
tree.odm_25dtexturing,
'model':
os.path.join(tree.odm_25dtexturing,
tree.odm_textured_model_obj)
}]
for r in runs:
odm_georeferencing_model_obj_geo = os.path.join(
r['texturing_dir'], tree.odm_georeferencing_model_obj_geo)
odm_georeferencing_model_ply_geo = os.path.join(
r['georeferencing_dir'], tree.odm_georeferencing_model_ply_geo)
odm_georeferencing_log = os.path.join(r['georeferencing_dir'],
tree.odm_georeferencing_log)
odm_georeferencing_transform_file = os.path.join(
r['georeferencing_dir'],
tree.odm_georeferencing_transform_file)
odm_georeferencing_model_txt_geo_file = os.path.join(
r['georeferencing_dir'], tree.odm_georeferencing_model_txt_geo)
if not io.file_exists(odm_georeferencing_model_obj_geo) or \
not io.file_exists(odm_georeferencing_model_ply_geo) or rerun_cell:
# odm_georeference definitions
kwargs = {
'bin': context.odm_modules_path,
'bundle': tree.opensfm_bundle,
'imgs': tree.dataset_raw,
'imgs_list': tree.opensfm_bundle_list,
'model': r['model'],
'log': odm_georeferencing_log,
'input_trans_file': tree.opensfm_transformation,
'transform_file': odm_georeferencing_transform_file,
'coords': tree.odm_georeferencing_coords,
'pc_geo': odm_georeferencing_model_ply_geo,
'geo_sys': odm_georeferencing_model_txt_geo_file,
'model_geo': odm_georeferencing_model_obj_geo,
'gcp': gcpfile,
'verbose': verbose
}
if not args.use_pmvs:
if args.fast_orthophoto:
kwargs['pc'] = os.path.join(tree.opensfm,
'reconstruction.ply')
else:
kwargs['pc'] = tree.opensfm_model
else:
kwargs['pc'] = tree.pmvs_model
# Check to see if the GCP file exists
if not self.params.use_exif and (self.params.gcp_file or
tree.odm_georeferencing_gcp):
log.ODM_INFO('Found %s' % gcpfile)
try:
system.run(
'{bin}/odm_georef -bundleFile {bundle} -imagesPath {imgs} -imagesListPath {imgs_list} '
'-inputFile {model} -outputFile {model_geo} '
'-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} {verbose} '
'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys} -gcpFile {gcp} '
'-outputCoordFile {coords}'.format(**kwargs))
except Exception:
log.ODM_EXCEPTION('Georeferencing failed. ')
return ecto.QUIT
elif io.file_exists(
tree.opensfm_transformation) and io.file_exists(
tree.odm_georeferencing_coords):
log.ODM_INFO(
'Running georeferencing with OpenSfM transformation matrix'
)
system.run(
'{bin}/odm_georef -bundleFile {bundle} -inputTransformFile {input_trans_file} -inputCoordFile {coords} '
'-inputFile {model} -outputFile {model_geo} '
'-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} {verbose} '
'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys}'
.format(**kwargs))
elif io.file_exists(tree.odm_georeferencing_coords):
log.ODM_INFO(
'Running georeferencing with generated coords file.')
system.run(
'{bin}/odm_georef -bundleFile {bundle} -inputCoordFile {coords} '
'-inputFile {model} -outputFile {model_geo} '
'-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} {verbose} '
'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys}'
.format(**kwargs))
else:
log.ODM_WARNING(
'Georeferencing failed. Make sure your '
'photos have geotags in the EXIF or you have '
'provided a GCP file. ')
doPointCloudGeo = False # skip the rest of the georeferencing
if doPointCloudGeo:
# update images metadata
geo_ref = reconstruction.georef
geo_ref.extract_offsets(
odm_georeferencing_model_txt_geo_file)
# convert ply model to LAS reference system
geo_ref.convert_to_las(odm_georeferencing_model_ply_geo,
tree.odm_georeferencing_model_laz,
tree.odm_georeferencing_las_json)
reconstruction.georef = geo_ref
# XYZ point cloud output
if args.pc_csv:
log.ODM_INFO(
"Creating geo-referenced CSV file (XYZ format)")
with open(tree.odm_georeferencing_xyz_file,
"wb") as csvfile:
csvfile_writer = csv.writer(csvfile, delimiter=",")
with open(odm_georeferencing_model_ply_geo) as f:
endianess = '<' # little endian
while True:
line = f.readline()
if "binary_big_endian" in line:
endianess = '>'
if line.startswith("end_header"):
break
fmt = '{}dddBBB'.format(endianess)
while True:
chunk = f.read(27) # 3 doubles, 3 uints
if len(chunk) < 27:
break
tokens = struct.unpack(fmt, chunk)
csv_line = [
float(tokens[0]),
float(tokens[1]), tokens[2]
]
csvfile_writer.writerow(csv_line)
if args.crop > 0:
log.ODM_INFO(
"Calculating cropping area and generating bounds shapefile from point cloud"
)
cropper = Cropper(tree.odm_georeferencing,
'odm_georeferenced_model')
cropper.create_bounds_shapefile(
tree.odm_georeferencing_model_laz, args.crop)
# Do not execute a second time, since
# We might be doing georeferencing for
# multiple models (3D, 2.5D, ...)
doPointCloudGeo = False
else:
log.ODM_WARNING('Found a valid georeferenced model in: %s' %
odm_georeferencing_model_ply_geo)
outputs.reconstruction = reconstruction
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Georeferencing')
log.ODM_INFO('Running ODM Georeferencing Cell - Finished')
return ecto.OK if args.end_with != 'odm_georeferencing' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM DEM Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
las_model_found = io.file_exists(tree.odm_georeferencing_model_las)
env_paths = [context.superbuild_bin_path]
# Just to make sure
l2d_module_installed = True
try:
system.run('l2d_classify --help > /dev/null', env_paths)
except:
log.ODM_WARNING('lidar2dems is not installed properly')
l2d_module_installed = False
log.ODM_INFO('Create DSM: ' + str(args.dsm))
log.ODM_INFO('Create DTM: ' + str(args.dtm))
log.ODM_INFO('DEM input file {0} found: {1}'.format(tree.odm_georeferencing_model_las, str(las_model_found)))
# Do we need to process anything here?
if (args.dsm or args.dtm) and las_model_found and l2d_module_installed:
# define paths and create working directories
odm_dem_root = tree.path('odm_dem')
system.mkdir_p(odm_dem_root)
dsm_output_filename = os.path.join(odm_dem_root, 'dsm.tif')
dtm_output_filename = os.path.join(odm_dem_root, 'dtm.tif')
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_dem') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_dem' in args.rerun_from)
if (args.dtm and not io.file_exists(dtm_output_filename)) or \
(args.dsm and not io.file_exists(dsm_output_filename)) or \
rerun_cell:
# Extract boundaries and srs of point cloud
summary_file_path = os.path.join(odm_dem_root, 'odm_georeferenced_model.summary.json')
boundary_file_path = os.path.join(odm_dem_root, 'odm_georeferenced_model.boundary.json')
system.run('pdal info --summary {0} > {1}'.format(tree.odm_georeferencing_model_las, summary_file_path), env_paths)
system.run('pdal info --boundary {0} > {1}'.format(tree.odm_georeferencing_model_las, boundary_file_path), env_paths)
pc_proj4 = ""
pc_geojson_bounds_feature = None
with open(summary_file_path, 'r') as f:
json_f = json.loads(f.read())
pc_proj4 = json_f['summary']['srs']['proj4']
with open(boundary_file_path, 'r') as f:
json_f = json.loads(f.read())
pc_geojson_boundary_feature = json_f['boundary']['boundary_json']
# Write bounds to GeoJSON
bounds_geojson_path = os.path.join(odm_dem_root, 'odm_georeferenced_model.bounds.geojson')
with open(bounds_geojson_path, "w") as f:
f.write(json.dumps({
"type": "FeatureCollection",
"features": [{
"type": "Feature",
"geometry": pc_geojson_boundary_feature
}]
}))
bounds_shapefile_path = os.path.join(odm_dem_root, 'bounds.shp')
# Convert bounds to Shapefile
kwargs = {
'input': bounds_geojson_path,
'output': bounds_shapefile_path,
'proj4': pc_proj4
}
system.run('ogr2ogr -overwrite -a_srs "{proj4}" {output} {input}'.format(**kwargs))
# Process with lidar2dems
terrain_params_map = {
'flatnonforest': (1, 3),
'flatforest': (1, 2),
'complexnonforest': (5, 2),
'complexforest': (10, 2)
}
terrain_params = terrain_params_map[args.dem_terrain_type.lower()]
kwargs = {
'verbose': '-v' if self.params.verbose else '',
'slope': terrain_params[0],
'cellsize': terrain_params[1],
'outdir': odm_dem_root,
'site': bounds_shapefile_path
}
l2d_params = '--slope {slope} --cellsize {cellsize} ' \
'{verbose} ' \
'-o -s {site} ' \
'--outdir {outdir}'.format(**kwargs)
approximate = '--approximate' if args.dem_approximate else ''
# Classify only if we need a DTM
run_classification = args.dtm
if run_classification:
system.run('l2d_classify {0} --decimation {1} '
'{2} --initialDistance {3} {4}'.format(
l2d_params, args.dem_decimation, approximate,
args.dem_initial_distance, tree.odm_georeferencing), env_paths)
else:
log.ODM_INFO("Will skip classification, only DSM is needed")
copyfile(tree.odm_georeferencing_model_las, os.path.join(odm_dem_root, 'bounds-0_l2d_s{slope}c{cellsize}.las'.format(**kwargs)))
products = []
if args.dsm: products.append('dsm')
if args.dtm: products.append('dtm')
radius_steps = [args.dem_resolution]
for _ in range(args.dem_gapfill_steps - 1):
radius_steps.append(radius_steps[-1] * 3) # 3 is arbitrary, maybe there's a better value?
for product in products:
demargs = {
'product': product,
'indir': odm_dem_root,
'l2d_params': l2d_params,
'maxsd': args.dem_maxsd,
'maxangle': args.dem_maxangle,
'resolution': args.dem_resolution,
'radius_steps': ' '.join(map(str, radius_steps)),
'gapfill': '--gapfill' if args.dem_gapfill_steps > 0 else '',
# If we didn't run a classification, we should pass the decimate parameter here
'decimation': '--decimation {0}'.format(args.dem_decimation) if not run_classification else ''
}
system.run('l2d_dems {product} {indir} {l2d_params} '
'--maxsd {maxsd} --maxangle {maxangle} '
'--resolution {resolution} --radius {radius_steps} '
'{decimation} '
'{gapfill} '.format(**demargs), env_paths)
# Rename final output
if product == 'dsm':
os.rename(os.path.join(odm_dem_root, 'bounds-0_dsm.idw.tif'), dsm_output_filename)
elif product == 'dtm':
os.rename(os.path.join(odm_dem_root, 'bounds-0_dtm.idw.tif'), dtm_output_filename)
else:
log.ODM_WARNING('Found existing outputs in: %s' % odm_dem_root)
else:
log.ODM_WARNING('DEM will not be generated')
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Dem')
log.ODM_INFO('Running ODM DEM Cell - Finished')
return ecto.OK if args.end_with != 'odm_dem' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM OpenSfM Cell')
# get inputs
tree = self.inputs.tree
args = self.inputs.args
photos = self.inputs.photos
if not photos:
log.ODM_ERROR('Not enough photos in photos array to start OpenSfM')
return ecto.QUIT
# create working directories
system.mkdir_p(tree.opensfm)
system.mkdir_p(tree.pmvs)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'opensfm') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'opensfm' in args.rerun_from)
if not args.use_pmvs:
output_file = tree.opensfm_model
else:
output_file = tree.opensfm_reconstruction
# check if reconstruction was done before
if not io.file_exists(output_file) or rerun_cell:
# create file list
list_path = io.join_paths(tree.opensfm, 'image_list.txt')
with open(list_path, 'w') as fout:
for photo in photos:
fout.write('%s\n' % photo.path_file)
# create config file for OpenSfM
config = [
"use_exif_size: %s" %
('no' if not self.params.use_exif_size else 'yes'),
"feature_process_size: %s" % self.params.feature_process_size,
"feature_min_frames: %s" % self.params.feature_min_frames,
"processes: %s" % self.params.processes,
"matching_gps_neighbors: %s" %
self.params.matching_gps_neighbors
]
if args.matcher_distance > 0:
config.append("matching_gps_distance: %s" %
self.params.matching_gps_distance)
# write config file
config_filename = io.join_paths(tree.opensfm, 'config.yaml')
with open(config_filename, 'w') as fout:
fout.write("\n".join(config))
# run OpenSfM reconstruction
matched_done_file = io.join_paths(tree.opensfm,
'matching_done.txt')
if not io.file_exists(matched_done_file) or rerun_cell:
system.run('PYTHONPATH=%s %s/bin/opensfm extract_metadata %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
system.run('PYTHONPATH=%s %s/bin/opensfm detect_features %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
system.run('PYTHONPATH=%s %s/bin/opensfm match_features %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
with open(matched_done_file, 'w') as fout:
fout.write("Matching done!\n")
else:
log.ODM_WARNING(
'Found a feature matching done progress file in: %s' %
matched_done_file)
if not io.file_exists(tree.opensfm_tracks) or rerun_cell:
system.run('PYTHONPATH=%s %s/bin/opensfm create_tracks %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
else:
log.ODM_WARNING('Found a valid OpenSfM tracks file in: %s' %
tree.opensfm_tracks)
if not io.file_exists(tree.opensfm_reconstruction) or rerun_cell:
system.run('PYTHONPATH=%s %s/bin/opensfm reconstruct %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
else:
log.ODM_WARNING(
'Found a valid OpenSfM reconstruction file in: %s' %
tree.opensfm_reconstruction)
if not io.file_exists(
tree.opensfm_reconstruction_meshed) or rerun_cell:
system.run('PYTHONPATH=%s %s/bin/opensfm mesh %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
else:
log.ODM_WARNING(
'Found a valid OpenSfM meshed reconstruction file in: %s' %
tree.opensfm_reconstruction_meshed)
if not args.use_pmvs:
if not io.file_exists(
tree.opensfm_reconstruction_nvm) or rerun_cell:
system.run(
'PYTHONPATH=%s %s/bin/opensfm export_visualsfm %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
else:
log.ODM_WARNING(
'Found a valid OpenSfM NVM reconstruction file in: %s'
% tree.opensfm_reconstruction_nvm)
system.run('PYTHONPATH=%s %s/bin/opensfm undistort %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
system.run(
'PYTHONPATH=%s %s/bin/opensfm compute_depthmaps %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
else:
log.ODM_WARNING(
'Found a valid OpenSfM reconstruction file in: %s' %
tree.opensfm_reconstruction)
# check if reconstruction was exported to bundler before
if not io.file_exists(tree.opensfm_bundle_list) or rerun_cell:
# convert back to bundler's format
system.run(
'PYTHONPATH=%s %s/bin/export_bundler %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
else:
log.ODM_WARNING('Found a valid Bundler file in: %s' %
tree.opensfm_reconstruction)
if args.use_pmvs:
# check if reconstruction was exported to pmvs before
if not io.file_exists(tree.pmvs_visdat) or rerun_cell:
# run PMVS converter
system.run('PYTHONPATH=%s %s/bin/export_pmvs %s --output %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm, tree.pmvs))
else:
log.ODM_WARNING('Found a valid CMVS file in: %s' %
tree.pmvs_visdat)
if args.time:
system.benchmark(start_time, tree.benchmarking, 'OpenSfM')
log.ODM_INFO('Running ODM OpenSfM Cell - Finished')
return ecto.OK if args.end_with != 'opensfm' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM OpenSfM Cell')
# get inputs
tree = inputs.tree
args = inputs.args
reconstruction = inputs.reconstruction
photos = reconstruction.photos
if not photos:
log.ODM_ERROR('Not enough photos in photos array to start OpenSfM')
return ecto.QUIT
# create working directories
system.mkdir_p(tree.opensfm)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'opensfm') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'opensfm' in args.rerun_from)
if args.fast_orthophoto:
output_file = io.join_paths(tree.opensfm, 'reconstruction.ply')
elif args.use_opensfm_dense:
output_file = tree.opensfm_model
else:
output_file = tree.opensfm_reconstruction
# check if reconstruction was done before
if not io.file_exists(output_file) or rerun_cell:
# create file list
list_path = io.join_paths(tree.opensfm, 'image_list.txt')
has_alt = True
with open(list_path, 'w') as fout:
for photo in photos:
if not photo.altitude:
has_alt = False
fout.write('%s\n' % photo.path_file)
# create config file for OpenSfM
config = [
"use_exif_size: %s" %
('no' if not self.params.use_exif_size else 'yes'),
"feature_process_size: %s" % self.params.feature_process_size,
"feature_min_frames: %s" % self.params.feature_min_frames,
"processes: %s" % self.params.processes,
"matching_gps_neighbors: %s" %
self.params.matching_gps_neighbors,
"depthmap_method: %s" % args.opensfm_depthmap_method,
"depthmap_resolution: %s" % args.depthmap_resolution,
"depthmap_min_patch_sd: %s" %
args.opensfm_depthmap_min_patch_sd,
"depthmap_min_consistent_views: %s" %
args.opensfm_depthmap_min_consistent_views,
"optimize_camera_parameters: %s" %
('no' if self.params.fixed_camera_params else 'yes')
]
if has_alt:
log.ODM_DEBUG(
"Altitude data detected, enabling it for GPS alignment")
config.append("use_altitude_tag: True")
config.append("align_method: naive")
if args.use_hybrid_bundle_adjustment:
log.ODM_DEBUG("Enabling hybrid bundle adjustment")
config.append(
"bundle_interval: 100"
) # Bundle after adding 'bundle_interval' cameras
config.append(
"bundle_new_points_ratio: 1.2"
) # Bundle when (new points) / (bundled points) > bundle_new_points_ratio
config.append(
"local_bundle_radius: 1"
) # Max image graph distance for images to be included in local bundle adjustment
if args.matcher_distance > 0:
config.append("matching_gps_distance: %s" %
self.params.matching_gps_distance)
if tree.odm_georeferencing_gcp:
config.append("bundle_use_gcp: yes")
io.copy(tree.odm_georeferencing_gcp, tree.opensfm)
# write config file
log.ODM_DEBUG(config)
config_filename = io.join_paths(tree.opensfm, 'config.yaml')
with open(config_filename, 'w') as fout:
fout.write("\n".join(config))
# run OpenSfM reconstruction
matched_done_file = io.join_paths(tree.opensfm,
'matching_done.txt')
if not io.file_exists(matched_done_file) or rerun_cell:
system.run('PYTHONPATH=%s %s/bin/opensfm extract_metadata %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
system.run('PYTHONPATH=%s %s/bin/opensfm detect_features %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
system.run('PYTHONPATH=%s %s/bin/opensfm match_features %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
with open(matched_done_file, 'w') as fout:
fout.write("Matching done!\n")
else:
log.ODM_WARNING(
'Found a feature matching done progress file in: %s' %
matched_done_file)
if not io.file_exists(tree.opensfm_tracks) or rerun_cell:
system.run('PYTHONPATH=%s %s/bin/opensfm create_tracks %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
else:
log.ODM_WARNING('Found a valid OpenSfM tracks file in: %s' %
tree.opensfm_tracks)
if not io.file_exists(tree.opensfm_reconstruction) or rerun_cell:
system.run('PYTHONPATH=%s %s/bin/opensfm reconstruct %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
else:
log.ODM_WARNING(
'Found a valid OpenSfM reconstruction file in: %s' %
tree.opensfm_reconstruction)
# Always export VisualSFM's reconstruction and undistort images
# as we'll use these for texturing (after GSD estimation and resizing)
if not args.ignore_gsd:
image_scale = gsd.image_scale_factor(
args.orthophoto_resolution, tree.opensfm_reconstruction)
else:
image_scale = 1.0
if not io.file_exists(
tree.opensfm_reconstruction_nvm) or rerun_cell:
system.run(
'PYTHONPATH=%s %s/bin/opensfm export_visualsfm --image_extension png --scale_focal %s %s'
% (context.pyopencv_path, context.opensfm_path,
image_scale, tree.opensfm))
else:
log.ODM_WARNING(
'Found a valid OpenSfM NVM reconstruction file in: %s' %
tree.opensfm_reconstruction_nvm)
# These will be used for texturing
system.run(
'PYTHONPATH=%s %s/bin/opensfm undistort --image_format png --image_scale %s %s'
% (context.pyopencv_path, context.opensfm_path, image_scale,
tree.opensfm))
# Skip dense reconstruction if necessary and export
# sparse reconstruction instead
if args.fast_orthophoto:
system.run(
'PYTHONPATH=%s %s/bin/opensfm export_ply --no-cameras %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
elif args.use_opensfm_dense:
# Undistort images at full scale in JPG
# (TODO: we could compare the size of the PNGs if they are < than depthmap_resolution
# and use those instead of re-exporting full resolution JPGs)
system.run('PYTHONPATH=%s %s/bin/opensfm undistort %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
system.run(
'PYTHONPATH=%s %s/bin/opensfm compute_depthmaps %s' %
(context.pyopencv_path, context.opensfm_path,
tree.opensfm))
else:
log.ODM_WARNING(
'Found a valid OpenSfM reconstruction file in: %s' %
tree.opensfm_reconstruction)
# check if reconstruction was exported to bundler before
if not io.file_exists(tree.opensfm_bundle_list) or rerun_cell:
# convert back to bundler's format
system.run(
'PYTHONPATH=%s %s/bin/export_bundler %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
else:
log.ODM_WARNING('Found a valid Bundler file in: %s' %
tree.opensfm_reconstruction)
if reconstruction.georef:
system.run(
'PYTHONPATH=%s %s/bin/opensfm export_geocoords %s --transformation --proj \'%s\''
% (context.pyopencv_path, context.opensfm_path, tree.opensfm,
reconstruction.georef.projection.srs))
outputs.reconstruction = reconstruction
if args.time:
system.benchmark(start_time, tree.benchmarking, 'OpenSfM')
log.ODM_INFO('Running ODM OpenSfM Cell - Finished')
return ecto.OK if args.end_with != 'opensfm' else ecto.QUIT
def process(self, inputs, outputs):
# find a file in the root directory
def find(file, dir):
for root, dirs, files in os.walk(dir):
return '/'.join((root, file)) if file in files else None
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM Georeferencing Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
gcpfile = io.join_paths(tree.root_path, self.params.gcp_file) \
if self.params.gcp_file else find('gcp_list.txt', tree.root_path)
geocreated = True
verbose = '-verbose' if self.params.verbose else ''
# define paths and create working directories
system.mkdir_p(tree.odm_georeferencing)
if args.use_25dmesh: system.mkdir_p(tree.odm_25dgeoreferencing)
# in case a gcp file it's not provided, let's try to generate it using
# images metadata. Internally calls jhead.
log.ODM_DEBUG(self.params.gcp_file)
if not self.params.gcp_file: # and \
# not io.file_exists(tree.odm_georeferencing_coords):
log.ODM_WARNING('No coordinates file. '
'Generating coordinates file: %s' %
tree.odm_georeferencing_coords)
# odm_georeference definitions
kwargs = {
'bin': context.odm_modules_path,
'imgs': tree.dataset_raw,
'imgs_list': tree.opensfm_bundle_list,
'coords': tree.odm_georeferencing_coords,
'log': tree.odm_georeferencing_utm_log,
'verbose': verbose
}
# run UTM extraction binary
extract_utm = system.run_and_return(
'{bin}/odm_extract_utm -imagesPath {imgs}/ '
'-imageListFile {imgs_list} -outputCoordFile {coords} {verbose} '
'-logFile {log}'.format(**kwargs))
if extract_utm != '':
log.ODM_WARNING('Could not generate coordinates file. '
'Ignore if there is a GCP file. Error: %s' %
extract_utm)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_georeferencing') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_georeferencing' in args.rerun_from)
runs = [{
'georeferencing_dir':
tree.odm_georeferencing,
'texturing_dir':
tree.odm_texturing,
'model':
os.path.join(tree.odm_texturing, tree.odm_textured_model_obj)
}]
if args.use_25dmesh:
runs += [{
'georeferencing_dir':
tree.odm_25dgeoreferencing,
'texturing_dir':
tree.odm_25dtexturing,
'model':
os.path.join(tree.odm_25dtexturing,
tree.odm_textured_model_obj)
}]
for r in runs:
odm_georeferencing_model_obj_geo = os.path.join(
r['texturing_dir'], tree.odm_georeferencing_model_obj_geo)
odm_georeferencing_model_ply_geo = os.path.join(
r['georeferencing_dir'], tree.odm_georeferencing_model_ply_geo)
odm_georeferencing_log = os.path.join(r['georeferencing_dir'],
tree.odm_georeferencing_log)
odm_georeferencing_transform_file = os.path.join(
r['georeferencing_dir'],
tree.odm_georeferencing_transform_file)
if not io.file_exists(odm_georeferencing_model_obj_geo) or \
not io.file_exists(odm_georeferencing_model_ply_geo) or rerun_cell:
# odm_georeference definitions
kwargs = {
'bin':
context.odm_modules_path,
'bundle':
tree.opensfm_bundle,
'imgs':
tree.dataset_raw,
'imgs_list':
tree.opensfm_bundle_list,
'model':
r['model'],
'log':
odm_georeferencing_log,
'transform_file':
odm_georeferencing_transform_file,
'coords':
tree.odm_georeferencing_coords,
'pc_geo':
odm_georeferencing_model_ply_geo,
'geo_sys':
os.path.join(r['georeferencing_dir'],
tree.odm_georeferencing_model_txt_geo),
'model_geo':
odm_georeferencing_model_obj_geo,
'gcp':
gcpfile,
'verbose':
verbose
}
if not args.use_pmvs:
kwargs['pc'] = tree.opensfm_model
else:
kwargs['pc'] = tree.pmvs_model
# Check to see if the GCP file exists
if not self.params.use_exif and (self.params.gcp_file or find(
'gcp_list.txt', tree.root_path)):
log.ODM_INFO('Found %s' % gcpfile)
try:
system.run(
'{bin}/odm_georef -bundleFile {bundle} -imagesPath {imgs} -imagesListPath {imgs_list} '
'-inputFile {model} -outputFile {model_geo} '
'-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} {verbose} '
'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys} -gcpFile {gcp} '
'-outputCoordFile {coords}'.format(**kwargs))
except Exception:
log.ODM_EXCEPTION('Georeferencing failed. ')
return ecto.QUIT
elif io.file_exists(tree.odm_georeferencing_coords):
log.ODM_INFO(
'Running georeferencing with generated coords file.')
system.run(
'{bin}/odm_georef -bundleFile {bundle} -inputCoordFile {coords} '
'-inputFile {model} -outputFile {model_geo} '
'-inputPointCloudFile {pc} -outputPointCloudFile {pc_geo} {verbose} '
'-logFile {log} -outputTransformFile {transform_file} -georefFileOutputPath {geo_sys}'
.format(**kwargs))
else:
log.ODM_WARNING(
'Georeferencing failed. Make sure your '
'photos have geotags in the EXIF or you have '
'provided a GCP file. ')
geocreated = False # skip the rest of the georeferencing
odm_georeferencing_model_ply_geo = os.path.join(
tree.odm_georeferencing,
tree.odm_georeferencing_model_ply_geo)
if geocreated:
# update images metadata
geo_ref = types.ODM_GeoRef()
geo_ref.parse_coordinate_system(
tree.odm_georeferencing_coords)
for idx, photo in enumerate(self.inputs.photos):
geo_ref.utm_to_latlon(tree.odm_georeferencing_latlon,
photo, idx)
# convert ply model to LAS reference system
geo_ref.convert_to_las(odm_georeferencing_model_ply_geo,
tree.odm_georeferencing_model_las,
tree.odm_georeferencing_las_json)
# XYZ point cloud output
log.ODM_INFO(
"Creating geo-referenced CSV file (XYZ format)")
with open(tree.odm_georeferencing_xyz_file,
"wb") as csvfile:
csvfile_writer = csv.writer(csvfile, delimiter=",")
reachedpoints = False
with open(odm_georeferencing_model_ply_geo) as f:
for lineNumber, line in enumerate(f):
if reachedpoints:
tokens = line.split(" ")
csv_line = [
float(tokens[0]) +
geo_ref.utm_east_offset,
float(tokens[1]) +
geo_ref.utm_north_offset, tokens[2]
]
csvfile_writer.writerow(csv_line)
if line.startswith("end_header"):
reachedpoints = True
csvfile.close()
else:
log.ODM_WARNING('Found a valid georeferenced model in: %s' %
odm_georeferencing_model_ply_geo)
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Georeferencing')
log.ODM_INFO('Running ODM Georeferencing Cell - Finished')
return ecto.OK if args.end_with != 'odm_georeferencing' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM Meshing Cell')
# get inputs
args = inputs.args
tree = inputs.tree
reconstruction = inputs.reconstruction
verbose = '-verbose' if self.params.verbose else ''
# define paths and create working directories
system.mkdir_p(tree.odm_meshing)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_meshing') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_meshing' in args.rerun_from)
infile = tree.opensfm_model
if args.use_pmvs:
infile = tree.pmvs_model
elif args.fast_orthophoto:
infile = os.path.join(tree.opensfm, 'reconstruction.ply')
# Do not create full 3D model with fast_orthophoto
if not args.fast_orthophoto:
if not io.file_exists(tree.odm_mesh) or rerun_cell:
log.ODM_DEBUG('Writing ODM Mesh file in: %s' % tree.odm_mesh)
kwargs = {
'bin': context.odm_modules_path,
'outfile': tree.odm_mesh,
'infile': infile,
'log': tree.odm_meshing_log,
'max_vertex': self.params.max_vertex,
'oct_tree': self.params.oct_tree,
'samples': self.params.samples,
'solver': self.params.solver,
'verbose': verbose
}
# run meshing binary
system.run('{bin}/odm_meshing -inputFile {infile} '
'-outputFile {outfile} -logFile {log} '
'-maxVertexCount {max_vertex} -octreeDepth {oct_tree} {verbose} '
'-samplesPerNode {samples} -solverDivide {solver}'.format(**kwargs))
else:
log.ODM_WARNING('Found a valid ODM Mesh file in: %s' %
tree.odm_mesh)
# Do we need to generate a 2.5D mesh also?
# This is always set if fast_orthophoto is set
if args.use_25dmesh:
if not io.file_exists(tree.odm_25dmesh) or rerun_cell:
log.ODM_DEBUG('Writing ODM 2.5D Mesh file in: %s' % tree.odm_25dmesh)
kwargs = {
'bin': context.odm_modules_path,
'outfile': tree.odm_25dmesh,
'infile': infile,
'log': tree.odm_25dmeshing_log,
'verbose': verbose,
'max_vertex': self.params.max_vertex,
'neighbors': args.mesh_neighbors,
'resolution': args.mesh_resolution
}
# run 2.5D meshing binary
system.run('{bin}/odm_25dmeshing -inputFile {infile} '
'-outputFile {outfile} -logFile {log} '
'-maxVertexCount {max_vertex} -neighbors {neighbors} '
'-resolution {resolution} {verbose}'.format(**kwargs))
else:
log.ODM_WARNING('Found a valid ODM 2.5D Mesh file in: %s' %
tree.odm_25dmesh)
outputs.reconstruction = reconstruction
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Meshing')
log.ODM_INFO('Running ODM Meshing Cell - Finished')
return ecto.OK if args.end_with != 'odm_meshing' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running OMD OrthoPhoto Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
# define paths and create working directories
system.mkdir_p(tree.odm_orthophoto)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'odm_orthophoto') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'odm_orthophoto' in args.rerun_from)
if not io.file_exists(tree.odm_orthophoto_file) or rerun_cell:
# odm_orthophoto definitions
kwargs = {
'bin': context.odm_modules_path,
'model_geo': tree.odm_georeferencing_model_obj_geo,
'log': tree.odm_orthophoto_log,
'ortho': tree.odm_orthophoto_file,
'corners': tree.odm_orthophoto_corners,
'res': self.params.resolution
}
# run odm_orthophoto
system.run('{bin}/odm_orthophoto -inputFile {model_geo} '
'-logFile {log} -outputFile {ortho} -resolution {res} '
'-outputCornerFile {corners}'.format(**kwargs))
# Create georeferenced GeoTiff
geotiffcreated = False
georef = types.ODM_GeoRef()
# creates the coord refs # TODO I don't want to have to do this twice- after odm_georef
georef.parse_coordinate_system(tree.odm_georeferencing_coords)
if georef.epsg and georef.utm_east_offset and georef.utm_north_offset:
ulx = uly = lrx = lry = 0.0
with open(tree.odm_orthophoto_corners) as f:
for lineNumber, line in enumerate(f):
if lineNumber == 0:
tokens = line.split(' ')
if len(tokens) == 4:
ulx = float(tokens[0]) + \
float(georef.utm_east_offset)
lry = float(tokens[1]) + \
float(georef.utm_north_offset)
lrx = float(tokens[2]) + \
float(georef.utm_east_offset)
uly = float(tokens[3]) + \
float(georef.utm_north_offset)
log.ODM_INFO('Creating GeoTIFF')
kwargs = {
'ulx': ulx,
'uly': uly,
'lrx': lrx,
'lry': lry,
'epsg': georef.epsg,
'png': tree.odm_orthophoto_file,
'tiff': tree.odm_orthophoto_tif,
'log': tree.odm_orthophoto_tif_log
}
system.run('gdal_translate -a_ullr {ulx} {uly} {lrx} {lry} '
'-a_srs \"EPSG:{epsg}\" {png} {tiff} > {log}'.format(**kwargs))
geotiffcreated = True
if not geotiffcreated:
log.ODM_WARNING('No geo-referenced orthophoto created due '
'to missing geo-referencing or corner coordinates.')
else:
log.ODM_WARNING('Found a valid orthophoto in: %s' % tree.odm_orthophoto_file)
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Orthophoto')
log.ODM_INFO('Running ODM OrthoPhoto Cell - Finished')
return ecto.OK if args.end_with != 'odm_orthophoto' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM OpenSfM Cell')
# get inputs
tree = self.inputs.tree
args = self.inputs.args
photos = self.inputs.photos
if not photos:
log.ODM_ERROR('Not enough photos in photos array to start OpenSfM')
return ecto.QUIT
# create working directories
system.mkdir_p(tree.opensfm)
system.mkdir_p(tree.pmvs)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'opensfm') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'opensfm' in args.rerun_from)
# check if reconstruction was done before
if not io.file_exists(tree.opensfm_reconstruction) or rerun_cell:
# create file list
list_path = io.join_paths(tree.opensfm, 'image_list.txt')
with open(list_path, 'w') as fout:
for photo in photos:
fout.write('%s\n' % photo.path_file)
# create config file for OpenSfM
config = [
"use_exif_size: %s" % ('no' if not self.params.use_exif_size else 'yes'),
"feature_process_size: %s" % self.params.feature_process_size,
"feature_min_frames: %s" % self.params.feature_min_frames,
"processes: %s" % self.params.processes,
"matching_gps_neighbors: %s" % self.params.matching_gps_neighbors
]
if args.matcher_distance > 0:
config.append("matching_gps_distance: %s" % self.params.matching_gps_distance)
# write config file
config_filename = io.join_paths(tree.opensfm, 'config.yaml')
with open(config_filename, 'w') as fout:
fout.write("\n".join(config))
# run OpenSfM reconstruction
system.run('PYTHONPATH=%s %s/bin/run_all %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
else:
log.ODM_WARNING('Found a valid OpenSfM file in: %s' %
tree.opensfm_reconstruction)
# check if reconstruction was exported to bundler before
if not io.file_exists(tree.opensfm_bundle_list) or rerun_cell:
# convert back to bundler's format
system.run('PYTHONPATH=%s %s/bin/export_bundler %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm))
else:
log.ODM_WARNING('Found a valid Bundler file in: %s' %
tree.opensfm_reconstruction)
# check if reconstruction was exported to pmvs before
if not io.file_exists(tree.pmvs_visdat) or rerun_cell:
# run PMVS converter
system.run('PYTHONPATH=%s %s/bin/export_pmvs %s --output %s' %
(context.pyopencv_path, context.opensfm_path, tree.opensfm, tree.pmvs))
else:
log.ODM_WARNING('Found a valid CMVS file in: %s' % tree.pmvs_visdat)
if args.time:
system.benchmark(start_time, tree.benchmarking, 'OpenSfM')
log.ODM_INFO('Running ODM OpenSfM Cell - Finished')
return ecto.OK if args.end_with != 'opensfm' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM Resize Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
photos = self.inputs.photos
if not photos:
log.ODM_ERROR('Not enough photos in photos to resize')
return ecto.QUIT
if self.params.resize_to <= 0:
log.ODM_ERROR('Resize parameter must be greater than 0')
return ecto.QUIT
# create working directory
system.mkdir_p(tree.dataset_resize)
log.ODM_DEBUG('Resizing dataset to: %s' % tree.dataset_resize)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'resize') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'resize' in args.rerun_from)
# loop over photos
if self.params.skip_resize:
photos = Pool().map(
partial(no_resize,
tree.dataset_raw,
tree.dataset_resize,
rerun_cell),
photos
)
log.ODM_INFO('Copied %s images' % len(photos))
else:
photos = Pool().map(
partial(resize,
tree.dataset_raw,
tree.dataset_resize,
self.params.resize_to,
rerun_cell),
photos
)
log.ODM_INFO('Resized %s images' % len(photos))
# append photos to cell output
self.outputs.photos = photos
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Resizing')
log.ODM_INFO('Running ODM Resize Cell - Finished')
return ecto.OK if args.end_with != 'resize' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running MVE Cell')
# get inputs
tree = inputs.tree
args = inputs.args
reconstruction = inputs.reconstruction
photos = reconstruction.photos
if not photos:
log.ODM_ERROR('Not enough photos in photos array to start MVE')
return ecto.QUIT
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'mve') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'mve' in args.rerun_from)
# check if reconstruction was done before
if not io.file_exists(tree.mve_model) or rerun_cell:
# cleanup if a rerun
if io.dir_exists(tree.mve_path) and rerun_cell:
shutil.rmtree(tree.mve_path)
# make bundle directory
if not io.file_exists(tree.mve_bundle):
system.mkdir_p(tree.mve_path)
system.mkdir_p(io.join_paths(tree.mve_path, 'bundle'))
io.copy(tree.opensfm_image_list, tree.mve_image_list)
io.copy(tree.opensfm_bundle, tree.mve_bundle)
# mve makescene wants the output directory
# to not exists before executing it (otherwise it
# will prompt the user for confirmation)
if io.dir_exists(tree.mve):
shutil.rmtree(tree.mve)
# run mve makescene
if not io.dir_exists(tree.mve_views):
system.run('%s %s %s' %
(context.makescene_path, tree.mve_path, tree.mve),
env_vars={'OMP_NUM_THREADS': args.max_concurrency})
# Compute mve output scale based on depthmap_resolution
max_width = 0
max_height = 0
for photo in photos:
max_width = max(photo.width, max_width)
max_height = max(photo.height, max_height)
max_pixels = args.depthmap_resolution * args.depthmap_resolution
if max_width * max_height <= max_pixels:
mve_output_scale = 0
else:
ratio = float(max_width * max_height) / float(max_pixels)
mve_output_scale = int(
math.ceil(math.log(ratio) / math.log(4.0)))
dmrecon_config = [
"-s%s" % mve_output_scale,
"--progress=silent",
"--local-neighbors=2",
"--force",
]
# Run MVE's dmrecon
log.ODM_INFO(
' '
)
log.ODM_INFO(
' ,*/** '
)
log.ODM_INFO(
' ,*@%*/@%* '
)
log.ODM_INFO(
' ,/@%******@&*. '
)
log.ODM_INFO(
' ,*@&*********/@&* '
)
log.ODM_INFO(
' ,*@&**************@&* '
)
log.ODM_INFO(
' ,/@&******************@&*. '
)
log.ODM_INFO(
' ,*@&*********************/@&* '
)
log.ODM_INFO(
' ,*@&**************************@&*. '
)
log.ODM_INFO(
' ,/@&******************************&&*, '
)
log.ODM_INFO(
' ,*&&**********************************@&*. '
)
log.ODM_INFO(
' ,*@&**************************************@&*. '
)
log.ODM_INFO(
' ,*@&***************#@@@@@@@@@%****************&&*, '
)
log.ODM_INFO(
' .*&&***************&@@@@@@@@@@@@@@****************@@*. '
)
log.ODM_INFO(
' .*@&***************&@@@@@@@@@@@@@@@@@%****(@@%********@@*. '
)
log.ODM_INFO(
' .*@@***************%@@@@@@@@@@@@@@@@@@@@@#****&@@@@%******&@*, '
)
log.ODM_INFO(
' .*&@****************@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@/*****@@*. '
)
log.ODM_INFO(
' .*@@****************@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@%*************@@*. '
)
log.ODM_INFO(
' .*@@****/***********@@@@@&**(@@@@@@@@@@@@@@@@@@@@@@@#*****************%@*, '
)
log.ODM_INFO(
' */@*******@*******#@@@@%*******/@@@@@@@@@@@@@@@@@@@@********************/@(, '
)
log.ODM_INFO(
' ,*@(********&@@@@@@#**************/@@@@@@@#**(@@&/**********************@&* '
)
log.ODM_INFO(
' *#@/*******************************@@@@@***&@&**********************&@*, '
)
log.ODM_INFO(
' *#@#******************************&@@@***@#*********************&@*, '
)
log.ODM_INFO(
' */@#*****************************@@@************************@@*. '
)
log.ODM_INFO(
' *#@/***************************/@@/*********************%@*, '
)
log.ODM_INFO(
' *#@#**************************#@@%******************%@*, '
)
log.ODM_INFO(
' */@#*************************(@@@@@@@&%/********&@*. '
)
log.ODM_INFO(
' *(@(*********************************/%@@%**%@*, '
)
log.ODM_INFO(
' *(@%************************************%@** '
)
log.ODM_INFO(
' **@%********************************&@*, '
)
log.ODM_INFO(
' *(@(****************************%@/* '
)
log.ODM_INFO(
' ,(@%************************#@/* '
)
log.ODM_INFO(
' ,*@%********************&@/, '
)
log.ODM_INFO(
' */@#****************#@/* '
)
log.ODM_INFO(
' ,/@&************#@/* '
)
log.ODM_INFO(
' ,*@&********%@/, '
)
log.ODM_INFO(
' */@#****(@/* '
)
log.ODM_INFO(
' ,/@@@@(* '
)
log.ODM_INFO(
' .**, '
)
log.ODM_INFO('')
log.ODM_INFO(
"Running dense reconstruction. This might take a while. Please be patient, the process is not dead or hung."
)
log.ODM_INFO(" Process is running")
system.run(
'%s %s %s' %
(context.dmrecon_path, ' '.join(dmrecon_config), tree.mve),
env_vars={'OMP_NUM_THREADS': args.max_concurrency})
scene2pset_config = ["-F%s" % mve_output_scale]
# run scene2pset
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})
else:
log.ODM_WARNING('Found a valid MVE reconstruction file in: %s' %
tree.mve_model)
outputs.reconstruction = reconstruction
if args.time:
system.benchmark(start_time, tree.benchmarking, 'MVE')
log.ODM_INFO('Running ODM MVE Cell - Finished')
return ecto.OK if args.end_with != 'mve' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running ODM Resize Cell')
# get inputs
args = self.inputs.args
tree = self.inputs.tree
photos = self.inputs.photos
if not photos:
log.ODM_ERROR('Not enough photos in photos to resize')
return ecto.QUIT
if self.params.resize_to <= 0:
log.ODM_ERROR('Resize parameter must be greater than 0')
return ecto.QUIT
# create working directory
system.mkdir_p(tree.dataset_resize)
log.ODM_DEBUG('Resizing dataset to: %s' % tree.dataset_resize)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'resize') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'resize' in args.rerun_from)
# loop over photos
for photo in photos:
# define image paths
path_file = photo.path_file
new_path_file = io.join_paths(tree.dataset_resize, photo.filename)
# set raw image path in case we want to rerun cell
if io.file_exists(new_path_file) and rerun_cell:
path_file = io.join_paths(tree.dataset_raw, photo.filename)
if not io.file_exists(new_path_file) or rerun_cell:
# open and resize image with opencv
img = cv2.imread(path_file)
# compute new size
max_side = max(img.shape[0], img.shape[1])
if max_side <= self.params.resize_to:
log.ODM_WARNING('Resize Parameter is greater than the largest side of the image')
ratio = float(self.params.resize_to) / float(max_side)
img_r = cv2.resize(img, None, fx=ratio, fy=ratio)
# write image with opencv
cv2.imwrite(new_path_file, img_r)
# read metadata with pyexiv2
old_meta = pyexiv2.ImageMetadata(path_file)
new_meta = pyexiv2.ImageMetadata(new_path_file)
old_meta.read()
new_meta.read()
# copy metadata
old_meta.copy(new_meta)
# update metadata size
new_meta['Exif.Photo.PixelXDimension'] = img_r.shape[0]
new_meta['Exif.Photo.PixelYDimension'] = img_r.shape[1]
new_meta.write()
# update photos array with new values
photo.path_file = new_path_file
photo.width = img_r.shape[0]
photo.height = img_r.shape[1]
photo.update_focal()
# log message
log.ODM_DEBUG('Resized %s | dimensions: %s' %
(photo.filename, img_r.shape))
else:
# log message
log.ODM_WARNING('Already resized %s | dimensions: %s x %s' %
(photo.filename, photo.width, photo.height))
log.ODM_INFO('Resized %s images' % len(photos))
# append photos to cell output
self.outputs.photos = photos
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Resizing')
log.ODM_INFO('Running ODM Resize Cell - Finished')
return ecto.OK if args.end_with != 'resize' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running MVS Texturing Cell')
# get inputs
args = inputs.args
tree = inputs.tree
reconstruction = inputs.reconstruction
# define paths and create working directories
system.mkdir_p(tree.odm_texturing)
if not args.use_3dmesh: system.mkdir_p(tree.odm_25dtexturing)
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'mvs_texturing') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'mvs_texturing' in args.rerun_from)
runs = [{
'out_dir': tree.odm_texturing,
'model': tree.odm_mesh,
'nadir': False
}]
if args.skip_3dmodel:
runs = []
if not args.use_3dmesh:
runs += [{
'out_dir': tree.odm_25dtexturing,
'model': tree.odm_25dmesh,
'nadir': True
}]
for r in runs:
odm_textured_model_obj = os.path.join(r['out_dir'],
tree.odm_textured_model_obj)
if not io.file_exists(odm_textured_model_obj) or rerun_cell:
log.ODM_DEBUG('Writing MVS Textured file in: %s' %
odm_textured_model_obj)
# Format arguments to fit Mvs-Texturing app
skipGeometricVisibilityTest = ""
skipGlobalSeamLeveling = ""
skipLocalSeamLeveling = ""
skipHoleFilling = ""
keepUnseenFaces = ""
nadir = ""
if (self.params.skip_vis_test):
skipGeometricVisibilityTest = "--skip_geometric_visibility_test"
if (self.params.skip_glob_seam_leveling):
skipGlobalSeamLeveling = "--skip_global_seam_leveling"
if (self.params.skip_loc_seam_leveling):
skipLocalSeamLeveling = "--skip_local_seam_leveling"
if (self.params.skip_hole_fill):
skipHoleFilling = "--skip_hole_filling"
if (self.params.keep_unseen_faces):
keepUnseenFaces = "--keep_unseen_faces"
if (r['nadir']):
nadir = '--nadir_mode'
# mvstex definitions
kwargs = {
'bin': context.mvstex_path,
'out_dir': io.join_paths(r['out_dir'],
"odm_textured_model"),
'model': r['model'],
'dataTerm': self.params.data_term,
'outlierRemovalType': self.params.outlier_rem_type,
'skipGeometricVisibilityTest': skipGeometricVisibilityTest,
'skipGlobalSeamLeveling': skipGlobalSeamLeveling,
'skipLocalSeamLeveling': skipLocalSeamLeveling,
'skipHoleFilling': skipHoleFilling,
'keepUnseenFaces': keepUnseenFaces,
'toneMapping': self.params.tone_mapping,
'nadirMode': nadir,
'nadirWeight': 2**args.texturing_nadir_weight - 1,
'nvm_file': io.join_paths(tree.opensfm,
"reconstruction.nvm")
}
# Make sure tmp directory is empty
mvs_tmp_dir = os.path.join(r['out_dir'], 'tmp')
if io.dir_exists(mvs_tmp_dir):
log.ODM_INFO(
"Removing old tmp directory {}".format(mvs_tmp_dir))
shutil.rmtree(mvs_tmp_dir)
# run texturing binary
system.run('{bin} {nvm_file} {model} {out_dir} '
'-d {dataTerm} -o {outlierRemovalType} '
'-t {toneMapping} '
'{skipGeometricVisibilityTest} '
'{skipGlobalSeamLeveling} '
'{skipLocalSeamLeveling} '
'{skipHoleFilling} '
'{keepUnseenFaces} '
'{nadirMode} '
'-n {nadirWeight}'.format(**kwargs))
else:
log.ODM_WARNING('Found a valid ODM Texture file in: %s' %
odm_textured_model_obj)
outputs.reconstruction = reconstruction
if args.time:
system.benchmark(start_time, tree.benchmarking, 'Texturing')
log.ODM_INFO('Running ODM Texturing Cell - Finished')
return ecto.OK if args.end_with != 'mvs_texturing' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running MVE Cell')
# get inputs
tree = inputs.tree
args = inputs.args
reconstruction = inputs.reconstruction
photos = reconstruction.photos
if not photos:
log.ODM_ERROR('Not enough photos in photos array to start MVE')
return ecto.QUIT
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'mve') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'mve' in args.rerun_from)
# check if reconstruction was done before
if not io.file_exists(tree.mve_model) or rerun_cell:
# cleanup if a rerun
if io.dir_exists(tree.mve_path) and rerun_cell:
shutil.rmtree(tree.mve_path)
# make bundle directory
if not io.file_exists(tree.mve_bundle):
system.mkdir_p(tree.mve_path)
system.mkdir_p(io.join_paths(tree.mve_path, 'bundle'))
io.copy(tree.opensfm_image_list, tree.mve_image_list)
io.copy(tree.opensfm_bundle, tree.mve_bundle)
# mve makescene wants the output directory
# to not exists before executing it (otherwise it
# will prompt the user for confirmation)
if io.dir_exists(tree.mve):
shutil.rmtree(tree.mve)
# run mve makescene
if not io.dir_exists(tree.mve_views):
system.run('%s %s %s' % (context.makescene_path, tree.mve_path, tree.mve), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
# Compute mve output scale based on depthmap_resolution
max_width = 0
max_height = 0
for photo in photos:
max_width = max(photo.width, max_width)
max_height = max(photo.height, max_height)
max_pixels = args.depthmap_resolution * args.depthmap_resolution
if max_width * max_height <= max_pixels:
mve_output_scale = 0
else:
ratio = float(max_width * max_height) / float(max_pixels)
mve_output_scale = int(math.ceil(math.log(ratio) / math.log(4.0)))
dmrecon_config = [
"-s%s" % mve_output_scale,
"--progress=silent",
"--local-neighbors=2",
"--force",
]
# Run MVE's dmrecon
log.ODM_INFO(' ')
log.ODM_INFO(' ,*/** ')
log.ODM_INFO(' ,*@%*/@%* ')
log.ODM_INFO(' ,/@%******@&*. ')
log.ODM_INFO(' ,*@&*********/@&* ')
log.ODM_INFO(' ,*@&**************@&* ')
log.ODM_INFO(' ,/@&******************@&*. ')
log.ODM_INFO(' ,*@&*********************/@&* ')
log.ODM_INFO(' ,*@&**************************@&*. ')
log.ODM_INFO(' ,/@&******************************&&*, ')
log.ODM_INFO(' ,*&&**********************************@&*. ')
log.ODM_INFO(' ,*@&**************************************@&*. ')
log.ODM_INFO(' ,*@&***************#@@@@@@@@@%****************&&*, ')
log.ODM_INFO(' .*&&***************&@@@@@@@@@@@@@@****************@@*. ')
log.ODM_INFO(' .*@&***************&@@@@@@@@@@@@@@@@@%****(@@%********@@*. ')
log.ODM_INFO(' .*@@***************%@@@@@@@@@@@@@@@@@@@@@#****&@@@@%******&@*, ')
log.ODM_INFO(' .*&@****************@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@/*****@@*. ')
log.ODM_INFO(' .*@@****************@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@%*************@@*. ')
log.ODM_INFO(' .*@@****/***********@@@@@&**(@@@@@@@@@@@@@@@@@@@@@@@#*****************%@*, ')
log.ODM_INFO(' */@*******@*******#@@@@%*******/@@@@@@@@@@@@@@@@@@@@********************/@(, ')
log.ODM_INFO(' ,*@(********&@@@@@@#**************/@@@@@@@#**(@@&/**********************@&* ')
log.ODM_INFO(' *#@/*******************************@@@@@***&@&**********************&@*, ')
log.ODM_INFO(' *#@#******************************&@@@***@#*********************&@*, ')
log.ODM_INFO(' */@#*****************************@@@************************@@*. ')
log.ODM_INFO(' *#@/***************************/@@/*********************%@*, ')
log.ODM_INFO(' *#@#**************************#@@%******************%@*, ')
log.ODM_INFO(' */@#*************************(@@@@@@@&%/********&@*. ')
log.ODM_INFO(' *(@(*********************************/%@@%**%@*, ')
log.ODM_INFO(' *(@%************************************%@** ')
log.ODM_INFO(' **@%********************************&@*, ')
log.ODM_INFO(' *(@(****************************%@/* ')
log.ODM_INFO(' ,(@%************************#@/* ')
log.ODM_INFO(' ,*@%********************&@/, ')
log.ODM_INFO(' */@#****************#@/* ')
log.ODM_INFO(' ,/@&************#@/* ')
log.ODM_INFO(' ,*@&********%@/, ')
log.ODM_INFO(' */@#****(@/* ')
log.ODM_INFO(' ,/@@@@(* ')
log.ODM_INFO(' .**, ')
log.ODM_INFO('')
log.ODM_INFO("Running dense reconstruction. This might take a while. Please be patient, the process is not dead or hung.")
log.ODM_INFO(" Process is running")
system.run('%s %s %s' % (context.dmrecon_path, ' '.join(dmrecon_config), tree.mve), env_vars={'OMP_NUM_THREADS': args.max_concurrency})
scene2pset_config = [
"-F%s" % mve_output_scale
]
# run scene2pset
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})
else:
log.ODM_WARNING('Found a valid MVE reconstruction file in: %s' %
tree.mve_model)
outputs.reconstruction = reconstruction
if args.time:
system.benchmark(start_time, tree.benchmarking, 'MVE')
log.ODM_INFO('Running ODM MVE Cell - Finished')
return ecto.OK if args.end_with != 'mve' else ecto.QUIT
def process(self, inputs, outputs):
# Benchmarking
start_time = system.now_raw()
log.ODM_INFO('Running SMVS Cell')
# get inputs
tree = inputs.tree
args = inputs.args
reconstruction = inputs.reconstruction
photos = reconstruction.photos
if not photos:
log.ODM_ERROR('Not enough photos in photos array to start SMVS')
return ecto.QUIT
# check if we rerun cell or not
rerun_cell = (args.rerun is not None and
args.rerun == 'smvs') or \
(args.rerun_all) or \
(args.rerun_from is not None and
'smvs' in args.rerun_from)
# check if reconstruction was done before
if not io.file_exists(tree.smvs_model) or rerun_cell:
# cleanup if a rerun
if io.dir_exists(tree.mve_path) and rerun_cell:
shutil.rmtree(tree.mve_path)
# make bundle directory
if not io.file_exists(tree.mve_bundle):
system.mkdir_p(tree.mve_path)
system.mkdir_p(io.join_paths(tree.mve_path, 'bundle'))
io.copy(tree.opensfm_image_list, tree.mve_image_list)
io.copy(tree.opensfm_bundle, tree.mve_bundle)
# mve makescene wants the output directory
# to not exists before executing it (otherwise it
# will prompt the user for confirmation)
if io.dir_exists(tree.smvs):
shutil.rmtree(tree.smvs)
# run mve makescene
if not io.dir_exists(tree.mve_views):
system.run('%s %s %s' % (context.makescene_path, tree.mve_path, tree.smvs))
# config
config = [
"-t%s" % self.params.threads,
"-a%s" % self.params.alpha,
"--max-pixels=%s" % int(self.params.max_pixels),
"-o%s" % self.params.output_scale,
"--debug-lvl=%s" % ('1' if self.params.verbose else '0'),
"%s" % '-S' if self.params.shading else '',
"%s" % '-g' if self.params.gamma_srgb and self.params.shading else '',
"--force" if rerun_cell else ''
]
# run smvs
system.run('%s %s %s' % (context.smvs_path, ' '.join(config), tree.smvs))
# find and rename the output file for simplicity
smvs_files = glob.glob(os.path.join(tree.smvs, 'smvs-*'))
smvs_files.sort(key=os.path.getmtime) # sort by last modified date
if len(smvs_files) > 0:
old_file = smvs_files[-1]
if not (io.rename_file(old_file, tree.smvs_model)):
log.ODM_WARNING("File %s does not exist, cannot be renamed. " % old_file)
else:
log.ODM_WARNING("Cannot find a valid point cloud (smvs-XX.ply) in %s. Check the console output for errors." % tree.smvs)
else:
log.ODM_WARNING('Found a valid SMVS reconstruction file in: %s' %
tree.smvs_model)
outputs.reconstruction = reconstruction
if args.time:
system.benchmark(start_time, tree.benchmarking, 'SMVS')
log.ODM_INFO('Running ODM SMVS Cell - Finished')
return ecto.OK if args.end_with != 'smvs' else ecto.QUIT
