forked from cdcseacave/openMVS
-
Notifications
You must be signed in to change notification settings - Fork 0
/
MvgMvsPipeline.py
434 lines (374 loc) · 18.9 KB
/
MvgMvsPipeline.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
#!/usr/bin/python3
# -*- encoding: utf-8 -*-
#
# Created by @FlachyJoe
"""
This script is for an easy use of OpenMVG, COLMAP, and OpenMVS
usage: MvgMvs_Pipeline.py [-h] [--steps STEPS [STEPS ...]] [--preset PRESET]
[--0 0 [0 ...]] [--1 1 [1 ...]] [--2 2 [2 ...]]
[--3 3 [3 ...]] [--4 4 [4 ...]] [--5 5 [5 ...]]
[--6 6 [6 ...]] [--7 7 [7 ...]] [--8 8 [8 ...]]
[--9 9 [9 ...]] [--10 10 [10 ...]] [--11 11 [11 ...]]
[--12 12 [12 ...]] [--13 13 [13 ...]] [--14 14 [14 ...]]
[--15 15 [15 ...]] [--16 16 [16 ...]] [--17 17 [17 ...]]
[--18 18 [18 ...]] [--19 19 [19 ...]] [--20 20 [20 ...]]
[--21 21 [21 ...]] [--22 22 [22 ...]]
input_dir output_dir
Photogrammetry reconstruction with these steps:
0. Intrinsics analysis openMVG_main_SfMInit_ImageListing
1. Compute features openMVG_main_ComputeFeatures
2. Compute pairs openMVG_main_PairGenerator
3. Compute matches openMVG_main_ComputeMatches
4. Filter matches openMVG_main_GeometricFilter
5. Incremental reconstruction openMVG_main_SfM
6. Global reconstruction openMVG_main_SfM
7. Colorize Structure openMVG_main_ComputeSfM_DataColor
8. Structure from Known Poses openMVG_main_ComputeStructureFromKnownPoses
9. Colorized robust triangulation openMVG_main_ComputeSfM_DataColor
10. Control Points Registration ui_openMVG_control_points_registration
11. Export to openMVS openMVG_main_openMVG2openMVS
12. Feature Extractor colmap
13. Exhaustive Matcher colmap
14. Mapper colmap
15. Image Undistorter colmap
16. Export to openMVS InterfaceCOLMAP
17. Densify point-cloud DensifyPointCloud
18. Reconstruct the mesh ReconstructMesh
19. Refine the mesh RefineMesh
20. Texture the mesh TextureMesh
21. Estimate disparity-maps DensifyPointCloud
22. Fuse disparity-maps DensifyPointCloud
positional arguments:
input_dir the directory which contains the pictures set.
output_dir the directory which will contain the resulting files.
optional arguments:
-h, --help show this help message and exit
--steps STEPS [STEPS ...] steps to process
--preset PRESET steps list preset in
SEQUENTIAL = [0, 1, 2, 3, 4, 5, 11, 17, 18, 19, 20]
GLOBAL = [0, 1, 2, 3, 4, 6, 11, 17, 18, 19, 20]
MVG_SEQ = [0, 1, 2, 3, 4, 5, 7, 8, 9, 11]
MVG_GLOBAL = [0, 1, 2, 3, 4, 6, 7, 8, 9, 11]
COLMAP_MVS = [12, 13, 14, 15, 16, 17, 18, 19, 20]
COLMAP = [12, 13, 14, 15, 16]
MVS = [17, 18, 19, 20]
MVS_SGM = [21, 22]
default : SEQUENTIAL
Passthrough:
Option to be passed to command lines (remove - in front of option names)
e.g. --1 p ULTRA to use the ULTRA preset in openMVG_main_ComputeFeatures
For example, running the script
[MvgMvsPipeline.py input_dir output_dir --steps 0 1 2 3 4 5 11 17 18 20 --1 p HIGH n 8 --3 n HNSWL2]
[--steps 0 1 2 3 4 5 11 17 18 20] runs only the desired steps
[--1 p HIGH n 8] where --1 refer to openMVG_main_ComputeFeatures,
p refers to describerPreset option and set to HIGH, and n refers
to numThreads and set to 8. The second step (Compute matches),
[--3 n HNSWL2] where --3 refer to openMVG_main_ComputeMatches,
n refers to nearest_matching_method option and set to HNSWL2
"""
import os
import subprocess
import sys
import argparse
DEBUG = False
if sys.platform.startswith('win'):
PATH_DELIM = ';'
FOLDER_DELIM = '\\'
else:
PATH_DELIM = ':'
FOLDER_DELIM = '/'
# add this script's directory to PATH
os.environ['PATH'] += PATH_DELIM + os.path.dirname(os.path.abspath(__file__))
# add current directory to PATH
os.environ['PATH'] += PATH_DELIM + os.getcwd()
def whereis(afile):
"""
return directory in which afile is, None if not found. Look in PATH
"""
if sys.platform.startswith('win'):
cmd = "where"
else:
cmd = "which"
try:
ret = subprocess.run([cmd, afile], stdout=subprocess.PIPE, stderr=subprocess.STDOUT, check=True)
return os.path.split(ret.stdout.decode())[0]
except subprocess.CalledProcessError:
return None
def find(afile):
"""
As whereis look only for executable on linux, this find look for all file type
"""
for d in os.environ['PATH'].split(PATH_DELIM):
if os.path.isfile(os.path.join(d, afile)):
return d
return None
# Try to find openMVG, COLMAP, and openMVS binaries in PATH
OPENMVG_BIN = whereis("openMVG_main_SfMInit_ImageListing")
COLMAP_BIN = whereis("colmap")
OPENMVS_BIN = whereis("ReconstructMesh")
# Try to find openMVG camera sensor database
CAMERA_SENSOR_DB_FILE = "sensor_width_camera_database.txt"
CAMERA_SENSOR_DB_DIRECTORY = find(CAMERA_SENSOR_DB_FILE)
# Ask user for openMVG, COLMAP, and openMVS directories if not found
if not OPENMVG_BIN:
OPENMVG_BIN = input("openMVG binary folder?\n")
if not COLMAP_BIN:
COLMAP_BIN = input("COLMAP binary folder?\n")
if not OPENMVS_BIN:
OPENMVS_BIN = input("openMVS binary folder?\n")
if not CAMERA_SENSOR_DB_DIRECTORY:
CAMERA_SENSOR_DB_DIRECTORY = input("openMVG camera database (%s) folder?\n" % CAMERA_SENSOR_DB_FILE)
COLMAP_BIN = os.path.join(COLMAP_BIN, "colmap")
if sys.platform.startswith('win'):
COLMAP_BIN += ".bat"
PRESET = {'SEQUENTIAL': [0, 1, 2, 3, 4, 5, 11, 17, 18, 19, 20],
'GLOBAL': [0, 1, 2, 3, 4, 6, 11, 17, 18, 19, 20],
'MVG_SEQ': [0, 1, 2, 3, 4, 5, 7, 8, 9, 11],
'MVG_GLOBAL': [0, 1, 2, 3, 4, 6, 7, 8, 9, 11],
'COLMAP_MVS': [12, 13, 14, 15, 16, 17, 18, 19, 20],
'COLMAP': [12, 13, 14, 15, 16],
'MVS': [17, 18, 19, 20],
'MVS_SGM': [21, 22]}
PRESET_DEFAULT = 'SEQUENTIAL'
# HELPERS for terminal colors
BLACK, RED, GREEN, YELLOW, BLUE, MAGENTA, CYAN, WHITE = range(8)
NO_EFFECT, BOLD, UNDERLINE, BLINK, INVERSE, HIDDEN = (0, 1, 4, 5, 7, 8)
# from Python cookbook, #475186
def has_colours(stream):
'''
Return stream colours capability
'''
if not hasattr(stream, "isatty"):
return False
if not stream.isatty():
return False # auto color only on TTYs
try:
import curses
curses.setupterm()
return curses.tigetnum("colors") > 2
except Exception:
# guess false in case of error
return False
HAS_COLOURS = has_colours(sys.stdout)
def printout(text, colour=WHITE, background=BLACK, effect=NO_EFFECT):
"""
print() with colour
"""
if HAS_COLOURS:
seq = "\x1b[%d;%d;%dm" % (effect, 30+colour, 40+background) + text + "\x1b[0m"
sys.stdout.write(seq+'\r\n')
else:
sys.stdout.write(text+'\r\n')
# OBJECTS to store config and data in
class ConfContainer:
"""
Container for all the config variables
"""
def __init__(self):
pass
class AStep:
""" Represents a process step to be run """
def __init__(self, info, cmd, opt):
self.info = info
self.cmd = cmd
self.opt = opt
class StepsStore:
""" List of steps with facilities to configure them """
def __init__(self):
self.steps_data = [
["Intrinsics analysis", # 0
os.path.join(OPENMVG_BIN, "openMVG_main_SfMInit_ImageListing"),
["-i", "%input_dir%", "-o", "%matches_dir%", "-d", "%camera_file_params%"]],
["Compute features", # 1
os.path.join(OPENMVG_BIN, "openMVG_main_ComputeFeatures"),
["-i", "%matches_dir%"+FOLDER_DELIM+"sfm_data.json", "-o", "%matches_dir%", "-m", "SIFT"]],
["Compute pairs", # 2
os.path.join(OPENMVG_BIN, "openMVG_main_PairGenerator"),
["-i", "%matches_dir%"+FOLDER_DELIM+"sfm_data.json", "-o", "%matches_dir%"+FOLDER_DELIM+"pairs.bin"]],
["Compute matches", # 3
os.path.join(OPENMVG_BIN, "openMVG_main_ComputeMatches"),
["-i", "%matches_dir%"+FOLDER_DELIM+"sfm_data.json", "-p", "%matches_dir%"+FOLDER_DELIM+"pairs.bin", "-o", "%matches_dir%"+FOLDER_DELIM+"matches.putative.bin", "-n", "AUTO"]],
["Filter matches", # 4
os.path.join(OPENMVG_BIN, "openMVG_main_GeometricFilter"),
["-i", "%matches_dir%"+FOLDER_DELIM+"sfm_data.json", "-m", "%matches_dir%"+FOLDER_DELIM+"matches.putative.bin", "-o", "%matches_dir%"+FOLDER_DELIM+"matches.f.bin"]],
["Incremental reconstruction", # 5
os.path.join(OPENMVG_BIN, "openMVG_main_SfM"),
["-i", "%matches_dir%"+FOLDER_DELIM+"sfm_data.json", "-m", "%matches_dir%", "-o", "%reconstruction_dir%", "-s", "INCREMENTAL"]],
["Global reconstruction", # 6
os.path.join(OPENMVG_BIN, "openMVG_main_SfM"),
["-i", "%matches_dir%"+FOLDER_DELIM+"sfm_data.json", "-m", "%matches_dir%", "-o", "%reconstruction_dir%", "-s", "GLOBAL", "-M", "%matches_dir%"+FOLDER_DELIM+"matches.e.bin"]],
["Colorize Structure", # 7
os.path.join(OPENMVG_BIN, "openMVG_main_ComputeSfM_DataColor"),
["-i", "%reconstruction_dir%"+FOLDER_DELIM+"sfm_data.bin", "-o", "%reconstruction_dir%"+FOLDER_DELIM+"colorized.ply"]],
["Structure from Known Poses", # 8
os.path.join(OPENMVG_BIN, "openMVG_main_ComputeStructureFromKnownPoses"),
["-i", "%reconstruction_dir%"+FOLDER_DELIM+"sfm_data.bin", "-m", "%matches_dir%", "-f", "%matches_dir%"+FOLDER_DELIM+"matches.f.bin", "-o", "%reconstruction_dir%"+FOLDER_DELIM+"robust.bin"]],
["Colorized robust triangulation", # 9
os.path.join(OPENMVG_BIN, "openMVG_main_ComputeSfM_DataColor"),
["-i", "%reconstruction_dir%"+FOLDER_DELIM+"robust.bin", "-o", "%reconstruction_dir%"+FOLDER_DELIM+"robust_colorized.ply"]],
["Control Points Registration", # 10
os.path.join(OPENMVG_BIN, "ui_openMVG_control_points_registration"),
["-i", "%reconstruction_dir%"+FOLDER_DELIM+"sfm_data.bin"]],
["Export to openMVS", # 11
os.path.join(OPENMVG_BIN, "openMVG_main_openMVG2openMVS"),
["-i", "%reconstruction_dir%"+FOLDER_DELIM+"sfm_data.bin", "-o", "%mvs_dir%"+FOLDER_DELIM+"scene.mvs", "-d", "%mvs_dir%"+FOLDER_DELIM+"images"]],
["Feature Extractor", # 12
COLMAP_BIN,
["feature_extractor", "--database_path", "%matches_dir%"+FOLDER_DELIM+"database.db", "--image_path", "%input_dir%"]],
["Exhaustive Matcher", # 13
COLMAP_BIN,
["exhaustive_matcher", "--database_path", "%matches_dir%"+FOLDER_DELIM+"database.db"]],
["Mapper", # 14
COLMAP_BIN,
["mapper", "--database_path", "%matches_dir%"+FOLDER_DELIM+"database.db", "--image_path", "%input_dir%", "--output_path", "%reconstruction_dir%"]],
["Image Undistorter", # 15
COLMAP_BIN,
["image_undistorter", "--image_path", "%input_dir%", "--input_path", "%reconstruction_dir%"+FOLDER_DELIM+"0", "--output_path", "%reconstruction_dir%"+FOLDER_DELIM+"dense", "--output_type", "COLMAP"]],
["Export to openMVS", # 16
os.path.join(OPENMVS_BIN, "InterfaceCOLMAP"),
["-i", "%reconstruction_dir%"+FOLDER_DELIM+"dense", "-o", "scene.mvs", "--image-folder", "%reconstruction_dir%"+FOLDER_DELIM+"dense"+FOLDER_DELIM+"images", "-w", "\"%mvs_dir%\""]],
["Densify point cloud", # 17
os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
["scene.mvs", "--dense-config-file", "Densify.ini", "--resolution-level", "1", "--number-views", "8", "-w", "\"%mvs_dir%\""]],
["Reconstruct the mesh", # 18
os.path.join(OPENMVS_BIN, "ReconstructMesh"),
["scene_dense.mvs", "-w", "\"%mvs_dir%\""]],
["Refine the mesh", # 19
os.path.join(OPENMVS_BIN, "RefineMesh"),
["scene_dense_mesh.mvs", "--scales", "1", "--gradient-step", "25.05", "-w", "\"%mvs_dir%\""]],
["Texture the mesh", # 20
os.path.join(OPENMVS_BIN, "TextureMesh"),
["scene_dense_mesh_refine.mvs", "--decimate", "0.5", "-w", "\"%mvs_dir%\""]],
["Estimate disparity-maps", # 21
os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-1", "-w", "\"%mvs_dir%\""]],
["Fuse disparity-maps", # 22
os.path.join(OPENMVS_BIN, "DensifyPointCloud"),
["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-2", "-w", "\"%mvs_dir%\""]]
]
def __getitem__(self, indice):
return AStep(*self.steps_data[indice])
def length(self):
return len(self.steps_data)
def apply_conf(self, conf):
""" replace each %var% per conf.var value in steps data """
for s in self.steps_data:
o2 = []
for o in s[2]:
co = o.replace("%input_dir%", conf.input_dir)
co = co.replace("%output_dir%", conf.output_dir)
co = co.replace("%matches_dir%", conf.matches_dir)
co = co.replace("%reconstruction_dir%", conf.reconstruction_dir)
co = co.replace("%mvs_dir%", conf.mvs_dir)
co = co.replace("%camera_file_params%", conf.camera_file_params)
o2.append(co)
s[2] = o2
def replace_opt(self, idx, str_exist, str_new):
""" replace each existing str_exist with str_new per opt value in step idx data """
s = self.steps_data[idx]
o2 = []
for o in s[2]:
co = o.replace(str_exist, str_new)
o2.append(co)
s[2] = o2
CONF = ConfContainer()
STEPS = StepsStore()
# ARGS
PARSER = argparse.ArgumentParser(
formatter_class=argparse.RawTextHelpFormatter,
description="Photogrammetry reconstruction with these steps: \r\n" +
"\r\n".join(("\t%i. %s\t %s" % (t, STEPS[t].info, STEPS[t].cmd) for t in range(STEPS.length())))
)
PARSER.add_argument('input_dir',
help="the directory which contains the pictures set.")
PARSER.add_argument('output_dir',
help="the directory which will contain the resulting files.")
PARSER.add_argument('--steps',
type=int,
nargs="+",
help="steps to process")
PARSER.add_argument('--preset',
help="steps list preset in \r\n" +
" \r\n".join([k + " = " + str(PRESET[k]) for k in PRESET]) +
" \r\ndefault : " + PRESET_DEFAULT)
GROUP = PARSER.add_argument_group('Passthrough', description="Option to be passed to command lines (remove - in front of option names)\r\ne.g. --1 p ULTRA to use the ULTRA preset in openMVG_main_ComputeFeatures\r\nFor example, running the script as follows,\r\nMvgMvsPipeline.py input_dir output_dir --1 p HIGH n 8 --3 n ANNL2\r\nwhere --1 refer to openMVG_main_ComputeFeatures, p refers to\r\ndescriberPreset option which HIGH was chosen, and n refers to\r\nnumThreads which 8 was used. --3 refer to second step (openMVG_main_ComputeMatches),\r\nn refers to nearest_matching_method option which ANNL2 was chosen")
for n in range(STEPS.length()):
GROUP.add_argument('--'+str(n), nargs='+')
PARSER.parse_args(namespace=CONF) # store args in the ConfContainer
# FOLDERS
def mkdir_ine(dirname):
"""Create the folder if not presents"""
if not os.path.exists(dirname):
os.mkdir(dirname)
# Absolute path for input and output dirs
CONF.input_dir = os.path.abspath(CONF.input_dir)
CONF.output_dir = os.path.abspath(CONF.output_dir)
if not os.path.exists(CONF.input_dir):
sys.exit("%s: path not found" % CONF.input_dir)
CONF.reconstruction_dir = os.path.join(CONF.output_dir, "sfm")
CONF.matches_dir = os.path.join(CONF.reconstruction_dir, "matches")
CONF.mvs_dir = os.path.join(CONF.output_dir, "mvs")
CONF.camera_file_params = os.path.join(CAMERA_SENSOR_DB_DIRECTORY, CAMERA_SENSOR_DB_FILE)
mkdir_ine(CONF.output_dir)
mkdir_ine(CONF.reconstruction_dir)
mkdir_ine(CONF.matches_dir)
mkdir_ine(CONF.mvs_dir)
# Update directories in steps commandlines
STEPS.apply_conf(CONF)
# PRESET
if CONF.steps and CONF.preset:
sys.exit("Steps and preset arguments can't be set together.")
elif CONF.preset:
try:
CONF.steps = PRESET[CONF.preset]
except KeyError:
sys.exit("Unknown preset %s, choose %s" % (CONF.preset, ' or '.join([s for s in PRESET])))
elif not CONF.steps:
CONF.steps = PRESET[PRESET_DEFAULT]
# WALK
print("# Using input dir: %s" % CONF.input_dir)
print("# output dir: %s" % CONF.output_dir)
print("# Steps: %s" % str(CONF.steps))
if 4 in CONF.steps: # GeometricFilter
if 6 in CONF.steps: # GlobalReconstruction
# Set the geometric_model of ComputeMatches to Essential
STEPS.replace_opt(4, FOLDER_DELIM+"matches.f.bin", FOLDER_DELIM+"matches.e.bin")
STEPS[4].opt.extend(["-g", "e"])
if 20 in CONF.steps: # TextureMesh
if 19 not in CONF.steps: # RefineMesh
# RefineMesh step is not run, use ReconstructMesh output
STEPS.replace_opt(20, "scene_dense_mesh_refine.mvs", "scene_dense_mesh.mvs")
for cstep in CONF.steps:
printout("#%i. %s" % (cstep, STEPS[cstep].info), effect=INVERSE)
# Retrieve "passthrough" commandline options
opt = getattr(CONF, str(cstep))
if opt:
# add - sign to short options and -- to long ones
for o in range(0, len(opt), 2):
if len(opt[o]) > 1:
opt[o] = '-' + opt[o]
opt[o] = '-' + opt[o]
else:
opt = []
# Remove STEPS[cstep].opt options now defined in opt
for anOpt in STEPS[cstep].opt:
if anOpt in opt:
idx = STEPS[cstep].opt.index(anOpt)
if DEBUG:
print('#\tRemove ' + str(anOpt) + ' from defaults options at id ' + str(idx))
del STEPS[cstep].opt[idx:idx+2]
# create a commandline for the current step
cmdline = [STEPS[cstep].cmd] + STEPS[cstep].opt + opt
print('Cmd: ' + ' '.join(cmdline))
if not DEBUG:
# Launch the current step
try:
pStep = subprocess.Popen(cmdline)
pStep.wait()
if pStep.returncode != 0:
break
except KeyboardInterrupt:
sys.exit('\r\nProcess canceled by user, all files remains')
else:
print('\t'.join(cmdline))
printout("# Pipeline end #", effect=INVERSE)