def configure(self, p, _i, _o):
tree = types.ODM_Tree(p.args.project_path, p.args.images, p.args.gcp)
self.tree = ecto.Constant(value=tree)
# TODO(dakota) put this somewhere better maybe
if p.args.time and io.file_exists(tree.benchmarking):
# Delete the previously made file
os.remove(tree.benchmarking)
with open(tree.benchmarking, 'a') as b:
b.write(
'ODM Benchmarking file created %s\nNumber of Cores: %s\n\n'
% (system.now(), context.num_cores))
def process(self, args, outputs):
outputs['start_time'] = system.now_raw()
tree = types.ODM_Tree(args.project_path, args.gcp, args.geo)
outputs['tree'] = tree
if args.time and io.file_exists(tree.benchmarking):
# Delete the previously made file
os.remove(tree.benchmarking)
with open(tree.benchmarking, 'a') as b:
b.write(
'ODM Benchmarking file created %s\nNumber of Cores: %s\n\n'
% (system.now(), context.num_cores))
# check if the image filename is supported
def valid_image_filename(filename):
(pathfn, ext) = os.path.splitext(filename)
return ext.lower(
) in context.supported_extensions and pathfn[-5:] != "_mask"
# Get supported images from dir
def get_images(in_dir):
log.ODM_DEBUG(in_dir)
entries = os.listdir(in_dir)
valid, rejects = [], []
for f in entries:
if valid_image_filename(f):
valid.append(f)
else:
rejects.append(f)
return valid, rejects
def find_mask(photo_path, masks):
(pathfn, ext) = os.path.splitext(os.path.basename(photo_path))
k = "{}_mask".format(pathfn)
mask = masks.get(k)
if mask:
# Spaces are not supported due to OpenSfM's mask_list.txt format reqs
if not " " in mask:
return mask
else:
log.ODM_WARNING(
"Image mask {} has a space. Spaces are currently not supported for image masks."
.format(mask))
# get images directory
images_dir = tree.dataset_raw
# define paths and create working directories
system.mkdir_p(tree.odm_georeferencing)
log.ODM_INFO('Loading dataset from: %s' % images_dir)
# check if we rerun cell or not
images_database_file = os.path.join(tree.root_path, 'images.json')
if not io.file_exists(images_database_file) or self.rerun():
if not os.path.exists(images_dir):
log.ODM_ERROR(
"There are no images in %s! Make sure that your project path and dataset name is correct. The current is set to: %s"
% (images_dir, args.project_path))
exit(1)
files, rejects = get_images(images_dir)
if files:
# create ODMPhoto list
path_files = [os.path.join(images_dir, f) for f in files]
# Lookup table for masks
masks = {}
for r in rejects:
(p, ext) = os.path.splitext(r)
if p[-5:] == "_mask" and ext.lower(
) in context.supported_extensions:
masks[p] = r
photos = []
with open(tree.dataset_list, 'w') as dataset_list:
log.ODM_INFO("Loading %s images" % len(path_files))
for f in path_files:
p = types.ODM_Photo(f)
p.set_mask(find_mask(f, masks))
photos += [p]
dataset_list.write(photos[-1].filename + '\n')
# Check if a geo file is available
if tree.odm_geo_file is not None and os.path.exists(
tree.odm_geo_file):
log.ODM_INFO("Found image geolocation file")
gf = GeoFile(tree.odm_geo_file)
updated = 0
for p in photos:
entry = gf.get_entry(p.filename)
if entry:
p.update_with_geo_entry(entry)
updated += 1
log.ODM_INFO("Updated %s image positions" % updated)
# Save image database for faster restart
save_images_database(photos, images_database_file)
else:
log.ODM_ERROR('Not enough supported images in %s' % images_dir)
exit(1)
else:
# We have an images database, just load it
photos = load_images_database(images_database_file)
log.ODM_INFO('Found %s usable images' % len(photos))
# Create reconstruction object
reconstruction = types.ODM_Reconstruction(photos)
if tree.odm_georeferencing_gcp and not args.use_exif:
reconstruction.georeference_with_gcp(
tree.odm_georeferencing_gcp,
tree.odm_georeferencing_coords,
tree.odm_georeferencing_gcp_utm,
tree.odm_georeferencing_model_txt_geo,
rerun=self.rerun())
else:
reconstruction.georeference_with_gps(
tree.dataset_raw,
tree.odm_georeferencing_coords,
tree.odm_georeferencing_model_txt_geo,
rerun=self.rerun())
reconstruction.save_proj_srs(
os.path.join(tree.odm_georeferencing,
tree.odm_georeferencing_proj))
outputs['reconstruction'] = reconstruction
def stitch(self, connector, resource):
self.logger.debug('Initializing OpenDroneMap app - %s' % system.now())
# If user asks to rerun everything, delete all of the existing progress directories.
# TODO: Move this somewhere it's not hard-coded. Alternatively remove everything
# we don't create
if self.opendrone_args.rerun_all:
os.system("rm -rf " + self.opendrone_args.project_path +
"images_resize/ " + self.opendrone_args.project_path +
"odm_georeferencing/ " +
self.opendrone_args.project_path + "odm_meshing/ " +
self.opendrone_args.project_path + "odm_orthophoto/ " +
self.opendrone_args.project_path + "odm_texturing/ " +
self.opendrone_args.project_path + "opensfm/ " +
self.opendrone_args.project_path + "pmvs/")
# create an instance of my App BlackBox
# internally configure all tasks
connector.status_update(StatusMessage.processing, resource,
"Creating ODMApp.")
settingsfilepath = os.path.join(self.opendrone_args.project_path,
"settings.yaml")
with open(settingsfilepath, 'w') as out_f:
odm_args = vars(self.opendrone_args)
for key in odm_args:
if not odm_args[key] is None:
out_f.write(str(key) + " : " + str(odm_args[key]) + "\n")
proc = None
try:
my_env = os.environ.copy()
my_env["ODM_SETTINGS"] = settingsfilepath
my_path = os.path.dirname(os.path.realpath(__file__))
if not my_path:
my_path = "."
script_path = os.path.join(my_path, "worker.py")
proc = subprocess.Popen([script_path, "code"],
bufsize=-1,
env=my_env,
stdout=subprocess.PIPE,
stderr=subprocess.STDOUT,
encoding="UTF-8")
except Exception as ex:
connector.status_update(StatusMessage.processing, resource,
"Exception: " + str(ex))
self.logger.exception("Error running process.")
logfilepath = os.path.join(self.opendrone_args.project_path,
self.args.logfilename)
with open(logfilepath, 'wb', 0) as logfile:
if proc:
# Loop here processing the output until the proc finishes
self.logger.debug("Waiting for process to finish")
connector.status_update(StatusMessage.processing, resource,
"Waiting for process to finish")
while proc.returncode is None:
if not proc.stdout is None:
try:
while True:
line = proc.stdout.readline()
if line:
logfile.write(line.encode('utf-8'))
line = line.rstrip('\n')
if "[ERROR]" in line:
connector.status_update(
StatusMessage.processing, resource,
line.replace("[ERROR] ", ""))
line = line.replace("[ERROR] ", "")
self.logger.error(line)
elif " ERROR: " in line:
connector.status_update(
StatusMessage.processing, resource,
re.sub(r".* ERROR: ", "ERROR: ",
line))
line = re.sub(r".* ERROR: ", "ERROR: ",
line)
self.logger.error(line)
elif "[WARNING]" in line:
line = line.replace("[WARNING] ", "")
self.logger.warning(line)
elif " WARNING: " in line:
line = re.sub(r".* WARNING: ", "",
line)
self.logger.warning(line)
elif "[INFO]" in line:
line = line.replace("[INFO] ", "")
self.logger.info(line)
elif " INFO: " in line:
line = re.sub(r".* INFO: ", "", line)
self.logger.info(line)
else:
self.logger.debug(line)
else:
proc.poll()
break
except Exception as ex:
self.logger.exception("Error reading line.")
connector.status_update(
StatusMessage.processing, resource,
"Ignoring exception while waiting: " + str(ex))
# Sleep and try again for process to complete
time.sleep(1)
self.logger.debug("Return code: " + str(proc.returncode))
connector.status_update(StatusMessage.processing, resource,
"Return code: " + str(proc.returncode))
if proc.returncode != 0 and self.args.waitonerror:
connector.status_update(
StatusMessage.processing, resource,
"Bad return code, hanging out until killed")
while True:
connector.status_update(StatusMessage.processing,
resource,
"Sleeping for 1000 seconds")
time.sleep(1000)
connector.status_update(StatusMessage.processing, resource,
"OpenDroneMap app finished.")
self.logger.debug('OpenDroneMap app finished - %s' % system.now())
return
from opendm import log
from opendm import config
from opendm import system
from opendm import io
import ecto
import os
from scripts.odm_app import ODMApp
if __name__ == '__main__':
args = config.config()
log.ODM_INFO('Initializing OpenDroneMap app - %s' % system.now())
# Add project dir if doesn't exist
args.project_path = io.join_paths(args.project_path, args.name)
if not io.dir_exists(args.project_path):
log.ODM_WARNING('Directory %s does not exist. Creating it now.' %
args.name)
system.mkdir_p(os.path.abspath(args.project_path))
# If user asks to rerun everything, delete all of the existing progress directories.
# TODO: Move this somewhere it's not hard-coded
if args.rerun_all:
log.ODM_DEBUG("Rerun all -- Removing old data")
os.system("rm -rf " + args.project_path + "/images_resize " +
args.project_path + "/odm_georeferencing " +
args.project_path + "/odm_meshing " + args.project_path +
def process(self, args, outputs):
outputs['start_time'] = system.now_raw()
tree = types.ODM_Tree(args.project_path, args.gcp, args.geo)
outputs['tree'] = tree
if args.time and io.file_exists(tree.benchmarking):
# Delete the previously made file
os.remove(tree.benchmarking)
with open(tree.benchmarking, 'a') as b:
b.write('ODM Benchmarking file created %s\nNumber of Cores: %s\n\n' % (system.now(), context.num_cores))
# check if the image filename is supported
def valid_image_filename(filename):
(pathfn, ext) = os.path.splitext(filename)
return ext.lower() in context.supported_extensions and pathfn[-5:] != "_mask"
# Get supported images from dir
def get_images(in_dir):
log.ODM_DEBUG(in_dir)
entries = os.listdir(in_dir)
valid, rejects = [], []
for f in entries:
if valid_image_filename(f):
valid.append(f)
else:
rejects.append(f)
return valid, rejects
def find_mask(photo_path, masks):
(pathfn, ext) = os.path.splitext(os.path.basename(photo_path))
k = "{}_mask".format(pathfn)
mask = masks.get(k)
if mask:
# Spaces are not supported due to OpenSfM's mask_list.txt format reqs
if not " " in mask:
return mask
else:
log.ODM_WARNING("Image mask {} has a space. Spaces are currently not supported for image masks.".format(mask))
# get images directory
images_dir = tree.dataset_raw
# define paths and create working directories
system.mkdir_p(tree.odm_georeferencing)
log.ODM_INFO('Loading dataset from: %s' % images_dir)
# check if we rerun cell or not
images_database_file = os.path.join(tree.root_path, 'images.json')
if not io.file_exists(images_database_file) or self.rerun():
if not os.path.exists(images_dir):
raise system.ExitException("There are no images in %s! Make sure that your project path and dataset name is correct. The current is set to: %s" % (images_dir, args.project_path))
files, rejects = get_images(images_dir)
if files:
# create ODMPhoto list
path_files = [os.path.join(images_dir, f) for f in files]
# Lookup table for masks
masks = {}
for r in rejects:
(p, ext) = os.path.splitext(r)
if p[-5:] == "_mask" and ext.lower() in context.supported_extensions:
masks[p] = r
photos = []
with open(tree.dataset_list, 'w') as dataset_list:
log.ODM_INFO("Loading %s images" % len(path_files))
for f in path_files:
try:
p = types.ODM_Photo(f)
p.set_mask(find_mask(f, masks))
photos.append(p)
dataset_list.write(photos[-1].filename + '\n')
except PhotoCorruptedException:
log.ODM_WARNING("%s seems corrupted and will not be used" % os.path.basename(f))
# Check if a geo file is available
if tree.odm_geo_file is not None and os.path.isfile(tree.odm_geo_file):
log.ODM_INFO("Found image geolocation file")
gf = GeoFile(tree.odm_geo_file)
updated = 0
for p in photos:
entry = gf.get_entry(p.filename)
if entry:
p.update_with_geo_entry(entry)
p.compute_opk()
updated += 1
log.ODM_INFO("Updated %s image positions" % updated)
# GPSDOP override if we have GPS accuracy information (such as RTK)
if 'gps_accuracy_is_set' in args:
log.ODM_INFO("Forcing GPS DOP to %s for all images" % args.gps_accuracy)
for p in photos:
p.override_gps_dop(args.gps_accuracy)
# Override projection type
if args.camera_lens != "auto":
log.ODM_INFO("Setting camera lens to %s for all images" % args.camera_lens)
for p in photos:
p.override_camera_projection(args.camera_lens)
# Automatic sky removal
if args.sky_removal:
# For each image that :
# - Doesn't already have a mask, AND
# - Is not nadir (or if orientation info is missing), AND
# - There are no spaces in the image filename (OpenSfM requirement)
# Automatically generate a sky mask
# Generate list of sky images
sky_images = []
for p in photos:
if p.mask is None and (p.pitch is None or (abs(p.pitch) > 20)) and (not " " in p.filename):
sky_images.append({'file': os.path.join(images_dir, p.filename), 'p': p})
if len(sky_images) > 0:
log.ODM_INFO("Automatically generating sky masks for %s images" % len(sky_images))
model = ai.get_model("skyremoval", "https://github.com/OpenDroneMap/SkyRemoval/releases/download/v1.0.5/model.zip", "v1.0.5")
if model is not None:
sf = SkyFilter(model=model)
def parallel_sky_filter(item):
try:
mask_file = sf.run_img(item['file'], images_dir)
# Check and set
if mask_file is not None and os.path.isfile(mask_file):
item['p'].set_mask(os.path.basename(mask_file))
log.ODM_INFO("Wrote %s" % os.path.basename(mask_file))
else:
log.ODM_WARNING("Cannot generate mask for %s" % img)
except Exception as e:
log.ODM_WARNING("Cannot generate mask for %s: %s" % (img, str(e)))
parallel_map(parallel_sky_filter, sky_images, max_workers=args.max_concurrency)
log.ODM_INFO("Sky masks generation completed!")
else:
log.ODM_WARNING("Cannot load AI model (you might need to be connected to the internet?)")
else:
log.ODM_INFO("No sky masks will be generated (masks already provided, or images are nadir)")
# End sky removal
# Save image database for faster restart
save_images_database(photos, images_database_file)
else:
raise system.ExitException('Not enough supported images in %s' % images_dir)
else:
# We have an images database, just load it
photos = load_images_database(images_database_file)
log.ODM_INFO('Found %s usable images' % len(photos))
log.logger.log_json_images(len(photos))
# Create reconstruction object
reconstruction = types.ODM_Reconstruction(photos)
if tree.odm_georeferencing_gcp and not args.use_exif:
reconstruction.georeference_with_gcp(tree.odm_georeferencing_gcp,
tree.odm_georeferencing_coords,
tree.odm_georeferencing_gcp_utm,
tree.odm_georeferencing_model_txt_geo,
rerun=self.rerun())
else:
reconstruction.georeference_with_gps(tree.dataset_raw,
tree.odm_georeferencing_coords,
tree.odm_georeferencing_model_txt_geo,
rerun=self.rerun())
reconstruction.save_proj_srs(os.path.join(tree.odm_georeferencing, tree.odm_georeferencing_proj))
outputs['reconstruction'] = reconstruction
# Try to load boundaries
if args.boundary:
if reconstruction.is_georeferenced():
outputs['boundary'] = boundary.load_boundary(args.boundary, reconstruction.get_proj_srs())
else:
args.boundary = None
log.ODM_WARNING("Reconstruction is not georeferenced, but boundary file provided (will ignore boundary file)")
# If sfm-algorithm is triangulation, check if photos have OPK
if args.sfm_algorithm == 'triangulation':
for p in photos:
if not p.has_opk():
log.ODM_WARNING("No omega/phi/kappa angles found in input photos (%s), switching sfm-algorithm to incremental" % p.filename)
args.sfm_algorithm = 'incremental'
break
from opendm import log
from opendm import config
from opendm import system
from opendm import io
import ecto
import os
from scripts.odm_app import ODMApp
if __name__ == '__main__':
args = config.config()
log.ODM_INFO('Initializing OpenDroneMap app - %s' % system.now())
# Add project dir if doesn't exist
args.project_path = io.join_paths(args.project_path, args.name)
if not io.dir_exists(args.project_path):
log.ODM_WARNING('Directory %s does not exist. Creating it now.' % args.name)
system.mkdir_p(os.path.abspath(args.project_path))
# If user asks to rerun everything, delete all of the existing progress directories.
# TODO: Move this somewhere it's not hard-coded
if args.rerun_all:
os.system("rm -rf "
+ args.project_path + "images_resize/ "
+ args.project_path + "odm_georeferencing/ "
+ args.project_path + "odm_meshing/ "
+ args.project_path + "odm_orthophoto/ "
f.write(ccd_size)
short_name = '\t\t\t\t<ShortName> {} </ShortName>\n'.format(
camera_model)
f.write(short_name)
f.write('\t\t\t</CameraEntry>\n')
f.write('\t\t</LocCamDataBase>\n')
f.write('\t</ChantierDescripteur>\n')
f.write('</Global>\n')
# RUN
if __name__ == '__main__':
args = config.config()
log.MM_INFO('Initializing NodeMICMAC app - %s' % system.now())
log.MM_INFO(args)
progressbc.set_project_name(args.name)
project_dir = io.join_paths(args.project_path, args.name)
image_dir = io.join_paths(project_dir, 'images')
IN_DOCKER = os.environ.get('DEBIAN_FRONTEND', False)
if IN_DOCKER:
mm3d = 'mm3d'
else:
mm3d = '/home/drnmppr-micmac/bin/mm3d' # for dev: locally installed micmac branch
try:
def usage():
log.ODM_ERROR('USAGE: %s --project-path [project_path]' % sys.argv[0])
log.ODM_ERROR('OpenDroneMap app finished - %s' % system.now())
sys.exit(0)
from opendm import log
from opendm import config
from opendm import system
from opendm import io
from opendm.progress import progressbc
from opendm.utils import double_quote, get_processing_results_paths
import os
from stages.odm_app import ODMApp
if __name__ == '__main__':
args = config.config()
log.ODM_INFO('Initializing ODM - %s' % system.now())
# Print args
args_dict = vars(args)
log.ODM_INFO('==============')
for k in sorted(args_dict.keys()):
# Skip _is_set keys
if k.endswith("_is_set"):
continue
# Don't leak token
if k == 'sm_cluster' and args_dict[k] is not None:
log.ODM_INFO('%s: True' % k)
else:
log.ODM_INFO('%s: %s' % (k, args_dict[k]))
log.ODM_INFO('==============')
def usage():
log.ODM_ERROR('USAGE: %s --project-path [project_path]' % sys.argv[0])
log.ODM_ERROR('OpenDroneMap app finished - %s' % system.now())
sys.exit(0)
def process(self, args, outputs):
# Load tree
tree = types.ODM_Tree(args.project_path, args.images, args.gcp)
outputs['tree'] = tree
if args.time and io.file_exists(tree.benchmarking):
# Delete the previously made file
os.remove(tree.benchmarking)
with open(tree.benchmarking, 'a') as b:
b.write(
'ODM Benchmarking file created %s\nNumber of Cores: %s\n\n'
% (system.now(), context.num_cores))
# check if the extension is supported
def supported_extension(file_name):
(pathfn, ext) = os.path.splitext(file_name)
return ext.lower() in context.supported_extensions
# Get supported images from dir
def get_images(in_dir):
# filter images for its extension type
log.ODM_DEBUG(in_dir)
return [
f for f in io.get_files_list(in_dir) if supported_extension(f)
]
# get images directory
input_dir = tree.input_images
images_dir = tree.dataset_raw
if not io.dir_exists(images_dir):
log.ODM_INFO(
"Project directory %s doesn't exist. Creating it now. " %
images_dir)
system.mkdir_p(images_dir)
copied = [
copyfile(io.join_paths(input_dir, f),
io.join_paths(images_dir, f))
for f in get_images(input_dir)
]
# define paths and create working directories
system.mkdir_p(tree.odm_georeferencing)
if not args.use_3dmesh: system.mkdir_p(tree.odm_25dgeoreferencing)
log.ODM_DEBUG('Loading dataset from: %s' % images_dir)
# check if we rerun cell or not
images_database_file = io.join_paths(tree.root_path, 'images.json')
if not io.file_exists(images_database_file) or self.rerun():
files = get_images(images_dir)
if files:
# create ODMPhoto list
path_files = [io.join_paths(images_dir, f) for f in files]
photos = []
with open(tree.dataset_list, 'w') as dataset_list:
for f in path_files:
photos += [types.ODM_Photo(f)]
dataset_list.write(photos[-1].filename + '\n')
# Save image database for faster restart
save_images_database(photos, images_database_file)
else:
log.ODM_ERROR('Not enough supported images in %s' % images_dir)
exit(1)
else:
# We have an images database, just load it
photos = load_images_database(images_database_file)
log.ODM_INFO('Found %s usable images' % len(photos))
# append photos to cell output
if not self.params.get('proj'):
if tree.odm_georeferencing_gcp:
outputs['reconstruction'] = types.ODM_Reconstruction(
photos, coords_file=tree.odm_georeferencing_gcp)
else:
# Generate UTM from images
try:
if not io.file_exists(
tree.odm_georeferencing_coords) or self.rerun():
location.extract_utm_coords(
photos, tree.dataset_raw,
tree.odm_georeferencing_coords)
else:
log.ODM_INFO("Coordinates file already exist: %s" %
tree.odm_georeferencing_coords)
except:
log.ODM_WARNING('Could not generate coordinates file. '
'Ignore if there is a GCP file')
outputs['reconstruction'] = types.ODM_Reconstruction(
photos, coords_file=tree.odm_georeferencing_coords)
else:
outputs['reconstruction'] = types.ODM_Reconstruction(
photos, projstring=self.params.get('proj'))
# Save proj to file for future use (unless this
# dataset is not georeferenced)
if outputs['reconstruction'].projection:
with open(
io.join_paths(tree.odm_georeferencing,
tree.odm_georeferencing_proj), 'w') as f:
f.write(outputs['reconstruction'].projection.srs)
def process(self, args, outputs):
tree = types.ODM_Tree(args.project_path, args.gcp)
outputs['tree'] = tree
if args.time and io.file_exists(tree.benchmarking):
# Delete the previously made file
os.remove(tree.benchmarking)
with open(tree.benchmarking, 'a') as b:
b.write('ODM Benchmarking file created %s\nNumber of Cores: %s\n\n' % (system.now(), context.num_cores))
# check if the extension is supported
def supported_extension(file_name):
(pathfn, ext) = os.path.splitext(file_name)
return ext.lower() in context.supported_extensions
# Get supported images from dir
def get_images(in_dir):
# filter images for its extension type
log.ODM_DEBUG(in_dir)
return [f for f in io.get_files_list(in_dir) if supported_extension(f)]
# get images directory
input_dir = tree.input_images
images_dir = tree.dataset_raw
if not io.dir_exists(images_dir):
log.ODM_INFO("Project directory %s doesn't exist. Creating it now. " % images_dir)
system.mkdir_p(images_dir)
copied = [copyfile(io.join_paths(input_dir, f), io.join_paths(images_dir, f)) for f in get_images(input_dir)]
# define paths and create working directories
system.mkdir_p(tree.odm_georeferencing)
if not args.use_3dmesh: system.mkdir_p(tree.odm_25dgeoreferencing)
log.ODM_INFO('Loading dataset from: %s' % images_dir)
# check if we rerun cell or not
images_database_file = io.join_paths(tree.root_path, 'images.json')
if not io.file_exists(images_database_file) or self.rerun():
files = get_images(images_dir)
if files:
# create ODMPhoto list
path_files = [io.join_paths(images_dir, f) for f in files]
photos = []
with open(tree.dataset_list, 'w') as dataset_list:
log.ODM_INFO("Loading %s images" % len(path_files))
for f in path_files:
photos += [types.ODM_Photo(f)]
dataset_list.write(photos[-1].filename + '\n')
# Save image database for faster restart
save_images_database(photos, images_database_file)
else:
log.ODM_ERROR('Not enough supported images in %s' % images_dir)
exit(1)
else:
# We have an images database, just load it
photos = load_images_database(images_database_file)
log.ODM_INFO('Found %s usable images' % len(photos))
# Create reconstruction object
reconstruction = types.ODM_Reconstruction(photos)
if tree.odm_georeferencing_gcp and not args.use_exif:
reconstruction.georeference_with_gcp(tree.odm_georeferencing_gcp,
tree.odm_georeferencing_coords,
tree.odm_georeferencing_gcp_utm,
rerun=self.rerun())
else:
reconstruction.georeference_with_gps(tree.dataset_raw,
tree.odm_georeferencing_coords,
rerun=self.rerun())
reconstruction.save_proj_srs(io.join_paths(tree.odm_georeferencing, tree.odm_georeferencing_proj))
outputs['reconstruction'] = reconstruction
def process(self, args, outputs):
outputs['start_time'] = system.now_raw()
tree = types.ODM_Tree(args.project_path, args.gcp, args.geo)
outputs['tree'] = tree
if args.time and io.file_exists(tree.benchmarking):
# Delete the previously made file
os.remove(tree.benchmarking)
with open(tree.benchmarking, 'a') as b:
b.write(
'ODM Benchmarking file created %s\nNumber of Cores: %s\n\n'
% (system.now(), context.num_cores))
# check if the image filename is supported
def valid_image_filename(filename):
(pathfn, ext) = os.path.splitext(filename)
return ext.lower(
) in context.supported_extensions and pathfn[-5:] != "_mask"
# Get supported images from dir
def get_images(in_dir):
log.ODM_DEBUG(in_dir)
entries = os.listdir(in_dir)
valid, rejects = [], []
for f in entries:
if valid_image_filename(f):
valid.append(f)
else:
rejects.append(f)
return valid, rejects
def find_mask(photo_path, masks):
(pathfn, ext) = os.path.splitext(os.path.basename(photo_path))
k = "{}_mask".format(pathfn)
mask = masks.get(k)
if mask:
# Spaces are not supported due to OpenSfM's mask_list.txt format reqs
if not " " in mask:
return mask
else:
log.ODM_WARNING(
"Image mask {} has a space. Spaces are currently not supported for image masks."
.format(mask))
# get images directory
images_dir = tree.dataset_raw
# define paths and create working directories
system.mkdir_p(tree.odm_georeferencing)
log.ODM_INFO('Loading dataset from: %s' % images_dir)
# check if we rerun cell or not
images_database_file = os.path.join(tree.root_path, 'images.json')
if not io.file_exists(images_database_file) or self.rerun():
if not os.path.exists(images_dir):
raise system.ExitException(
"There are no images in %s! Make sure that your project path and dataset name is correct. The current is set to: %s"
% (images_dir, args.project_path))
files, rejects = get_images(images_dir)
if files:
# create ODMPhoto list
path_files = [os.path.join(images_dir, f) for f in files]
# Lookup table for masks
masks = {}
for r in rejects:
(p, ext) = os.path.splitext(r)
if p[-5:] == "_mask" and ext.lower(
) in context.supported_extensions:
masks[p] = r
photos = []
with open(tree.dataset_list, 'w') as dataset_list:
log.ODM_INFO("Loading %s images" % len(path_files))
for f in path_files:
try:
p = types.ODM_Photo(f)
p.set_mask(find_mask(f, masks))
photos += [p]
dataset_list.write(photos[-1].filename + '\n')
except PhotoCorruptedException:
log.ODM_WARNING(
"%s seems corrupted and will not be used" %
os.path.basename(f))
# Check if a geo file is available
if tree.odm_geo_file is not None and os.path.isfile(
tree.odm_geo_file):
log.ODM_INFO("Found image geolocation file")
gf = GeoFile(tree.odm_geo_file)
updated = 0
for p in photos:
entry = gf.get_entry(p.filename)
if entry:
p.update_with_geo_entry(entry)
p.compute_opk()
updated += 1
log.ODM_INFO("Updated %s image positions" % updated)
# GPSDOP override if we have GPS accuracy information (such as RTK)
if 'gps_accuracy_is_set' in args:
log.ODM_INFO("Forcing GPS DOP to %s for all images" %
args.gps_accuracy)
for p in photos:
p.override_gps_dop(args.gps_accuracy)
# Override projection type
if args.camera_lens != "auto":
log.ODM_INFO("Setting camera lens to %s for all images" %
args.camera_lens)
for p in photos:
p.override_camera_projection(args.camera_lens)
# Save image database for faster restart
save_images_database(photos, images_database_file)
else:
raise system.ExitException(
'Not enough supported images in %s' % images_dir)
else:
# We have an images database, just load it
photos = load_images_database(images_database_file)
log.ODM_INFO('Found %s usable images' % len(photos))
log.logger.log_json_images(len(photos))
# Create reconstruction object
reconstruction = types.ODM_Reconstruction(photos)
if tree.odm_georeferencing_gcp and not args.use_exif:
reconstruction.georeference_with_gcp(
tree.odm_georeferencing_gcp,
tree.odm_georeferencing_coords,
tree.odm_georeferencing_gcp_utm,
tree.odm_georeferencing_model_txt_geo,
rerun=self.rerun())
else:
reconstruction.georeference_with_gps(
tree.dataset_raw,
tree.odm_georeferencing_coords,
tree.odm_georeferencing_model_txt_geo,
rerun=self.rerun())
reconstruction.save_proj_srs(
os.path.join(tree.odm_georeferencing,
tree.odm_georeferencing_proj))
outputs['reconstruction'] = reconstruction
# Try to load boundaries
if args.boundary:
if reconstruction.is_georeferenced():
outputs['boundary'] = boundary.load_boundary(
args.boundary, reconstruction.get_proj_srs())
else:
args.boundary = None
log.ODM_WARNING(
"Reconstruction is not georeferenced, but boundary file provided (will ignore boundary file)"
)
# If sfm-algorithm is triangulation, check if photos have OPK
if args.sfm_algorithm == 'triangulation':
for p in photos:
if not p.has_opk():
log.ODM_WARNING(
"No omega/phi/kappa angles found in input photos (%s), switching sfm-algorithm to incremental"
% p.filename)
args.sfm_algorithm = 'incremental'
break
def configure(self, p, _i, _o):
tree = types.ODM_Tree(p.args.project_path, p.args.images)
self.tree = ecto.Constant(value=tree)
# TODO(dakota) put this somewhere better maybe
if p.args.time and io.file_exists(tree.benchmarking):
# Delete the previously made file
os.remove(tree.benchmarking)
with open(tree.benchmarking, 'a') as b:
b.write('ODM Benchmarking file created %s\nNumber of Cores: %s\n\n' % (system.now(), context.num_cores))
from stages.odm_app import ODMApp
def odm_version():
try:
with open("VERSION") as f:
return f.read().split("\n")[0].strip()
except:
return "?"
if __name__ == '__main__':
args = config.config()
log.ODM_INFO('Initializing ODM %s - %s' % (odm_version(), system.now()))
# Print args
args_dict = args_to_dict(args)
log.ODM_INFO('==============')
for k in args_dict.keys():
log.ODM_INFO('%s: %s' % (k, args_dict[k]))
log.ODM_INFO('==============')
progressbc.set_project_name(args.name)
# Add project dir if doesn't exist
args.project_path = os.path.join(args.project_path, args.name)
if not io.dir_exists(args.project_path):
log.ODM_WARNING('Directory %s does not exist. Creating it now.' %
args.name)
from opendm import config
from opendm import system
from opendm import io
from opendm.progress import progressbc
from stages.dataset import DatasetStage
from stages.colmap import FeaturesStage, MatchingStage, SparseStage, GeoregisterStage, DenseStage
from stages.mesh import MeshStage
from stages.mvstex import TextureStage
from stages.dem import DEMStage
from stages.ortho import OrthoStage
from stages.georeferencing import GeoreferencingStage
if __name__ == '__main__':
args = config.config()
log.ODM_INFO('Initializing NodeCM app - %s' % system.now())
log.ODM_INFO(args)
if args.rerun_all:
log.ODM_INFO("Rerun all -- Removing old data")
os.system("rm -rf " + " ".join([
quote(os.path.join(args.project_path, "dense")),
quote(os.path.join(args.project_path, "database.db")),
quote(os.path.join(args.project_path, "odm_dem")),
quote(os.path.join(args.project_path, "odm_georeferencing")),
quote(os.path.join(args.project_path, "odm_meshing")),
quote(os.path.join(args.project_path, "odm_texturing")),
quote(os.path.join(args.project_path, "entwine_pointcloud")),
quote(os.path.join(args.project_path, "odm_orthophoto")),
]))
