Opensfm 370

SuperBuild/CMakeLists.txt

@@ -59,6 +59,13 @@ set(CONDA_CMAKE_ARGS
     "-DPython_ROOT_DIR=$ENV{CONDA_PREFIX}")
 message(STATUS "Using conda prefix: $ENV{CONDA_PREFIX}")
 
+# CUDA only via ODM_ENABLE_CUDA (pixi gpu feature, or set by hand)
+set(SB_ENABLE_CUDA OFF)
+if("$ENV{ODM_ENABLE_CUDA}" STREQUAL "ON")
+    set(SB_ENABLE_CUDA ON)
+endif()
+message(STATUS "CUDA support: ${SB_ENABLE_CUDA}")
+
 # On Linux the conda-forge toolchain bakes an RPATH to the environment's lib
 # into every binary. macOS clang does not, so libraries linked with an
 # @rpath install name (e.g. conda boost) fail to load at runtime. Bake the

SuperBuild/cmake/External-OpenMVS.cmake

@@ -105,6 +105,7 @@ ExternalProject_Add(${_proj_name}
     -DOpenMVS_ENABLE_TESTS=OFF
     -DOpenMVS_MAX_CUDA_COMPATIBILITY=ON
     -DINSTALL_USE_SUBDIR=OFF
+    -DOpenMVS_USE_CUDA=${SB_ENABLE_CUDA}
     ${GPU_CMAKE_ARGS}
     ${CONDA_CMAKE_ARGS}
     ${OPENMVS_WIN_CONDA_ARGS}

SuperBuild/cmake/External-OpenSfM.cmake

@@ -30,6 +30,9 @@ if(DEFINED ENV{CONDA_PREFIX})
   # propagated via the glog::glog cmake target, but OpenSfM links Ceres with
   # the old-style ${CERES_LIBRARIES} variable and misses the transitive define.
   set(OPENSFM_EXTRA_CXX_FLAGS "$ENV{CXXFLAGS} -DGLOG_USE_GLOG_EXPORT -DGLOG_USE_GFLAGS")
+  if(WIN32)
+    set(OPENSFM_EXTRA_CXX_FLAGS "${OPENSFM_EXTRA_CXX_FLAGS} /EHsc /GR")
+  endif()
 endif()
 
 ExternalProject_Add(${_proj_name}
@@ -40,10 +43,9 @@ ExternalProject_Add(${_proj_name}
   #--Download step--------------
   DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
   GIT_REPOSITORY    https://github.com/OpenDroneMap/OpenSfM/
-  GIT_TAG           c5328439465e6ace011f39077d1077d7b1cdd65d
+  GIT_TAG           85f83a705cf6801965e6bd6fd2e080a7d7b9fd0b
   #--Update/Patch step----------
   UPDATE_COMMAND    git submodule update --init --recursive
-  PATCH_COMMAND     ${CMAKE_COMMAND} -P ${SB_ROOT_DIR}/cmake/apply-patch.cmake ${SB_ROOT_DIR}/cmake/opensfm-aarch64-abs.patch
   #--Configure step-------------
   SOURCE_DIR        ${SB_INSTALL_DIR}/bin/${_proj_name}
   CONFIGURE_COMMAND ${CMAKE_COMMAND} <SOURCE_DIR>/${_proj_name}/src
@@ -63,7 +65,8 @@ ExternalProject_Add(${_proj_name}
   #--Build step-----------------
   BINARY_DIR        ${_SB_BINARY_DIR}
   #--Install step---------------
-  INSTALL_COMMAND    ""
+  INSTALL_COMMAND   ${CMAKE_COMMAND} --install <BINARY_DIR> --config ${CMAKE_BUILD_TYPE}
+    --prefix ${SB_INSTALL_DIR}/bin/${_proj_name}/opensfm
   #--Output logging-------------
   LOG_DOWNLOAD      OFF
   LOG_CONFIGURE     OFF

SuperBuild/cmake/External-PyPopsift.cmake

@@ -1,9 +1,7 @@
 set(_SB_BINARY_DIR "${SB_BINARY_DIR}/pypopsift")
 
 # Pypopsift
-find_package(CUDA 7.0)
-
-if(CUDA_FOUND)
+if(SB_ENABLE_CUDA)
     ExternalProject_Add(pypopsift
         DEPENDS
         PREFIX            ${_SB_BINARY_DIR}
@@ -32,5 +30,5 @@ if(CUDA_FOUND)
         LOG_BUILD         OFF
         )
 else()
-    message(WARNING "Could not find CUDA >= 7.0")
+    message(STATUS "Skipping pypopsift: ODM_ENABLE_CUDA not set (use the pixi gpu env, or set ODM_ENABLE_CUDA=ON)")
 endif()

opendm/osfm.py

@@ -23,7 +23,6 @@
 from opendm.multispectral import get_photos_by_band
 from opendm.gpu import has_popsift_and_can_handle_texsize, has_gpu
 from opensfm import multiview, exif
-from opensfm.actions.export_geocoords import _transform
 
 class OSFMContext:
     def __init__(self, opensfm_project_path):
@@ -49,10 +48,16 @@ def create_tracks(self, rerun=False):
         else:
             log.ODM_WARNING('Found a valid OpenSfM tracks file in: %s' % tracks_file)
 
-    def reconstruct(self, rolling_shutter_correct=False, merge_partial=False, rerun=False):
+    def reconstruct(self, algorithm='incremental', rolling_shutter_correct=False, merge_partial=False, rerun=False):
+        # Upstream OpenSfM supports 'incremental' and 'triangulation', so map anything
+        # else (e.g. the deprecated 'planar') to incremental
+        if algorithm not in ('incremental', 'triangulation'):
+            log.ODM_WARNING("Unsupported SfM algorithm '%s', using incremental instead" % algorithm)
+            algorithm = 'incremental'
+
         reconstruction_file = os.path.join(self.opensfm_project_path, 'reconstruction.json')
         if not io.file_exists(reconstruction_file) or rerun:
-            self.run('reconstruct')
+            self.run('reconstruct --algorithm %s' % algorithm)
             if merge_partial:
                 self.check_merge_partial_reconstructions()
         else:
@@ -70,13 +75,13 @@ def reconstruct(self, rolling_shutter_correct=False, merge_partial=False, rerun=
             rs_file = self.path('rs_done.txt')
 
             if not io.file_exists(rs_file) or rerun:
-                self.run('rs_correct')
+                self.run('correct_rolling_shutter')
 
                 log.ODM_INFO("Re-running the reconstruction pipeline")
 
                 self.match_features(True)
                 self.create_tracks(True)
-                self.reconstruct(rolling_shutter_correct=False, merge_partial=merge_partial, rerun=True)
+                self.reconstruct(algorithm=algorithm, rolling_shutter_correct=False, merge_partial=merge_partial, rerun=True)
 
                 self.touch(rs_file)
             else:
@@ -256,7 +261,6 @@ def setup(self, args, images_path, reconstruction, append_config = [], rerun=Fal
                 "matching_gps_distance: 0",
                 "matching_graph_rounds: %s" % matcher_graph_rounds,
                 "optimize_camera_parameters: %s" % ('no' if args.use_fixed_camera_params else 'yes'),
-                "reconstruction_algorithm: %s" % (args.sfm_algorithm),
                 "undistorted_image_format: tif",
                 "bundle_outlier_filtering_type: AUTO",
                 "sift_peak_threshold: 0.066",
@@ -372,7 +376,7 @@ def extract_metadata(self, rerun=False):
         if not io.dir_exists(metadata_dir) or rerun:
             self.run('extract_metadata')
 
-    def photos_to_metadata(self, photos, rolling_shutter, rolling_shutter_readout, rerun=False):
+    def photos_to_metadata(self, photos, rolling_shutter, rolling_shutter_readout, gps_accuracy, rerun=False):
         metadata_dir = self.path("exif")
 
         if io.dir_exists(metadata_dir) and not rerun:
@@ -388,7 +392,7 @@ def photos_to_metadata(self, photos, rolling_shutter, rolling_shutter_readout, r
         data = DataSet(self.opensfm_project_path)
 
         for p in photos:
-            d = p.to_opensfm_exif(rolling_shutter, rolling_shutter_readout)
+            d = p.to_opensfm_exif(rolling_shutter, rolling_shutter_readout, gps_accuracy)
             with open(os.path.join(metadata_dir, "%s.exif" % p.filename), 'w') as f:
                 f.write(json.dumps(d, indent=4))
 
@@ -623,7 +627,11 @@ def ground_control_points(self, proj4):
 
         result = []
         for gcp in gcps_stats:
-            geocoords = _transform(gcp['coordinates'], reference, projection)
+            # Local coords (XYZ /ENU) to WGS84 (lat/lon/alt)
+            coords = gcp['coordinates']
+            lat, lon, altitude = reference.to_lla(coords[0], coords[1], coords[2])
+            easting, northing = projection(lon, lat)
+            geocoords = [easting, northing, altitude]
             result.append({
                 'id': gcp['id'],
                 'observations': gcp['observations'],
@@ -665,11 +673,6 @@ def get_submodel_argv(args, submodels_path = None, submodel_name = None):
     # Startup script (/path/to/run.py)
     startup_script = argv[0]
 
-    # On Windows, make sure we always invoke the "run.bat" file
-    if sys.platform == 'win32':
-        startup_script_dir = os.path.dirname(startup_script)
-        startup_script = os.path.join(startup_script_dir, "run")
-
     result = [startup_script] 
 
     args_dict = vars(args).copy()

opendm/photo.py

@@ -821,7 +821,7 @@ def camera_id(self):
                 ]
             ).lower()
 
-    def to_opensfm_exif(self, rolling_shutter = False, rolling_shutter_readout = 0):
+    def to_opensfm_exif(self, rolling_shutter = False, rolling_shutter_readout = 0, gps_accuracy = None):
         capture_time = 0.0
         if self.utc_time is not None:
             capture_time = self.utc_time / 1000.0
@@ -838,10 +838,22 @@ def to_opensfm_exif(self, rolling_shutter = False, rolling_shutter_readout = 0):
 
             dop = self.get_gps_dop()
             if dop is None:
-                dop = 10.0 # Default
-
+                dop = gps_accuracy if gps_accuracy is not None else 10.0 # Default
+
+            # dop is a single GPS accuracy value. Older OpenSfM code still reads
+            # it, so keep writing it.
             gps['dop'] = dop
 
+            # Newer OpenSfM wants horizontal and vertical GPS accuracy separately.
+            # ODM stores them per axis when it has them (e.g. RTK), so use those.
+            # If a value is missing, use dop for horizontal and assume vertical is
+            # 3x less accurate (typical for GPS).
+            horizontal = self.gps_xy_stddev if self.gps_xy_stddev is not None else dop
+            vertical = self.gps_z_stddev if self.gps_z_stddev is not None else horizontal * 3.0
+            gps['latitude_std'] = horizontal
+            gps['longitude_std'] = horizontal
+            gps['altitude_std'] = vertical
+
         d = {
             "make": self.camera_make,
             "model": self.camera_model,

opendm/remote.py

@@ -1,6 +1,7 @@
 import time
 import datetime
 import os
+import sys
 import threading
 import zipfile
 import glob
@@ -26,12 +27,13 @@ class LocalRemoteExecutor:
     to use the processing power of the current machine as well as offloading tasks to a 
     network node.
     """
-    def __init__(self, nodeUrl, rolling_shutter = False, rerun = False):
+    def __init__(self, nodeUrl, rolling_shutter = False, sfm_algorithm = 'incremental', rerun = False):
         self.node = Node.from_url(nodeUrl)
         self.params = {
             'tasks': [],
             'threads': [],
             'rolling_shutter': rolling_shutter,
+            'sfm_algorithm': sfm_algorithm,
             'rerun': rerun
         }
         self.node_online = True
@@ -446,7 +448,7 @@ def process_local(self):
         log.ODM_INFO("==================================")
         octx.feature_matching(self.params['rerun'])
         octx.create_tracks(self.params['rerun'])
-        octx.reconstruct(self.params['rolling_shutter'], True, self.params['rerun'])
+        octx.reconstruct(self.params['sfm_algorithm'], self.params['rolling_shutter'], True, self.params['rerun'])
 
     def process_remote(self, done):
         octx = OSFMContext(self.path("opensfm"))
@@ -476,8 +478,8 @@ def process_local(self):
             submodels_path = os.path.abspath(self.path(".."))
             argv = get_submodel_argv(config.config(), submodels_path, submodel_name)
 
-            # Always invoke run.py through venv python
-            cmd = ["python3"] + argv
+            # Always invoke run.py through the same (pixi env) interpreter
+            cmd = [sys.executable] + argv
 
             # Re-run the ODM toolchain on the submodel
             system.run(" ".join(map(double_quote, cmd)), env_vars=os.environ.copy())