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scripts/python/MvgMvsPipeline.py
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#!/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
# Enable debug mode conditionally
DEBUGDEBUG_MODE_ENABLED = False
# Define delimiters based on the operating system
PATH_DELIMITER = ';' if sys.platform.startswith('win') else ':'
FOLDER_DELIMITER = '\\' if sys.platform.startswith('win') else '/'
# Append the script's and current working directory's paths to the system PATH
script_directory = os.path.dirname(os.path.abspath(__file__))
# add this script's directory to PATH
os.environ['PATH'] += PATH_DELIMITER + script_directory
# add current directory to PATH
os.environ['PATH'] += PATH_DELIMITER + os.getcwd()
def locate_executable(afile):
"""
return directory in which afile is, None if not found. Look in PATH
Attempts to find the directory containing the executable specified by 'file_name'.
Uses 'where' command on Windows and 'which' on other platforms.
Returns the directory path if found, None otherwise.
"""
command = "where" if sys.platform.startswith('win') else "which"
try:
process_result = subprocess.run([command, afile], stdout=subprocess.PIPE, stderr=subprocess.STDOUT, check=True)
return os.path.split(process_result.stdout.decode())[0]
except subprocess.CalledProcessError:
return None
def find_file_in_path(afile):
"""
As whereis look only for executable on linux, this find look for all file type
Searches for 'file_name' in all directories specified in the PATH environment variable.
Returns the first directory containing the file, or None if not found.
"""
for directory in os.environ['PATH'].split(PATH_DELIMITER):
if os.path.isfile(os.path.join(directory, afile)):
return directory
return None
# Attempt to locate binaries for specific software tools
openMVG_binary = locate_executable("openMVG_main_SfMInit_ImageListing")
colmap_binary = locate_executable("colmap")
openMVS_binary = locate_executable("ReconstructMesh")
# Try to find openMVG camera sensor database
camera_sensor_db_file = "sensor_width_camera_database.txt"
camera_sensor_db_directory = find_file_in_path(camera_sensor_db_file)
# Prompt user for directories if software binaries or database files weren't found
if not openMVG_binary:
openMVG_binary = input("Directory for openMVG binaries?\n")
if not colmap_binary:
colmap_binary = input("Directory for COLMAP binaries?\n")
if not openMVS_binary:
openMVS_binary = input("Directory for openMVS binaries?\n")
if not camera_sensor_db_directory:
camera_sensor_db_directory = input(f"Directory for the openMVG camera database ({camera_sensor_db_file})?\n")
colmap_binary = os.path.join(colmap_binary, "colmap")
# Adjust the binary name for COLMAP on Windows
if sys.platform.startswith('win'):
colmap_binary += ".bat"
# Define presets for various software tools
SOFTWARE_PRESETS = {'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],
'TEXTURE': [20]}
# Default preset selection
PRESET_DEFAULT = 'COLMAP'
# 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_colors(stream):
'''
Return stream colours capability
Checks if the given stream supports colors.
Returns True if it does, False otherwise.
'''
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_COLORS = has_colors(sys.stdout)
def printout(text, colour=WHITE, background=BLACK, effect=NO_EFFECT):
"""
print() with colour
"""
if HAS_COLORS:
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 ConfigContainer:
"""
Container for storing configuration variables.
"""
def __init__(self):
pass
class ProcessStep:
"""
Represents a step in the processing pipeline, storing necessary information to execute it.
"""
def __init__(self, description, command, options):
self.info = description
self.cmd = command
self.opt = options
class StepsStore:
""" List of steps with facilities to configure them """
def __init__(self):
self.steps_data = [
["Intrinsics analysis", # 0
os.path.join(openMVG_binary, "openMVG_main_SfMInit_ImageListing"),
["-i", "%input_dir%", "-o", "%matches_dir%", "-d", "%camera_file_params%"]],
["Compute features", # 1
os.path.join(openMVG_binary, "openMVG_main_ComputeFeatures"),
["-i", "%matches_dir%"+FOLDER_DELIMITER+"sfm_data.json", "-o", "%matches_dir%", "-m", "SIFT"]],
["Compute pairs", # 2
os.path.join(openMVG_binary, "openMVG_main_PairGenerator"),
["-i", "%matches_dir%"+FOLDER_DELIMITER+"sfm_data.json", "-o", "%matches_dir%"+FOLDER_DELIMITER+"pairs.bin"]],
["Compute matches", # 3
os.path.join(openMVG_binary, "openMVG_main_ComputeMatches"),
["-i", "%matches_dir%"+FOLDER_DELIMITER+"sfm_data.json", "-p", "%matches_dir%"+FOLDER_DELIMITER+"pairs.bin", "-o", "%matches_dir%"+FOLDER_DELIMITER+"matches.putative.bin", "-n", "AUTO"]],
["Filter matches", # 4
os.path.join(openMVG_binary, "openMVG_main_GeometricFilter"),
["-i", "%matches_dir%"+FOLDER_DELIMITER+"sfm_data.json", "-m", "%matches_dir%"+FOLDER_DELIMITER+"matches.putative.bin", "-o", "%matches_dir%"+FOLDER_DELIMITER+"matches.f.bin"]],
["Incremental reconstruction", # 5
os.path.join(openMVG_binary, "openMVG_main_SfM"),
["-i", "%matches_dir%"+FOLDER_DELIMITER+"sfm_data.json", "-m", "%matches_dir%", "-o", "%reconstruction_dir%", "-s", "INCREMENTAL"]],
["Global reconstruction", # 6
os.path.join(openMVG_binary, "openMVG_main_SfM"),
["-i", "%matches_dir%"+FOLDER_DELIMITER+"sfm_data.json", "-m", "%matches_dir%", "-o", "%reconstruction_dir%", "-s", "GLOBAL", "-M", "%matches_dir%"+FOLDER_DELIMITER+"matches.e.bin"]],
["Colorize Structure", # 7
os.path.join(openMVG_binary, "openMVG_main_ComputeSfM_DataColor"),
["-i", "%reconstruction_dir%"+FOLDER_DELIMITER+"sfm_data.bin", "-o", "%reconstruction_dir%"+FOLDER_DELIMITER+"colorized.ply"]],
["Structure from Known Poses", # 8
os.path.join(openMVG_binary, "openMVG_main_ComputeStructureFromKnownPoses"),
["-i", "%reconstruction_dir%"+FOLDER_DELIMITER+"sfm_data.bin", "-m", "%matches_dir%", "-f", "%matches_dir%"+FOLDER_DELIMITER+"matches.f.bin", "-o", "%reconstruction_dir%"+FOLDER_DELIMITER+"robust.bin"]],
["Colorized robust triangulation", # 9
os.path.join(openMVG_binary, "openMVG_main_ComputeSfM_DataColor"),
["-i", "%reconstruction_dir%"+FOLDER_DELIMITER+"robust.bin", "-o", "%reconstruction_dir%"+FOLDER_DELIMITER+"robust_colorized.ply"]],
["Control Points Registration", # 10
os.path.join(openMVG_binary, "ui_openMVG_control_points_registration"),
["-i", "%reconstruction_dir%"+FOLDER_DELIMITER+"sfm_data.bin"]],
["Export to openMVS", # 11
os.path.join(openMVG_binary, "openMVG_main_openMVG2openMVS"),
["-i", "%reconstruction_dir%"+FOLDER_DELIMITER+"sfm_data.bin", "-o", "%mvs_dir%"+FOLDER_DELIMITER+"scene.mvs", "-d", "%mvs_dir%"+FOLDER_DELIMITER+"images"]],
["Feature Extractor", # 12
colmap_binary,
["feature_extractor", "--database_path", "%matches_dir%"+FOLDER_DELIMITER+"database.db", "--image_path", "%input_dir%"]],
["Exhaustive Matcher", # 13
colmap_binary,
["exhaustive_matcher", "--database_path", "%matches_dir%"+FOLDER_DELIMITER+"database.db"]],
["Mapper", # 14
colmap_binary,
["mapper", "--database_path", "%matches_dir%"+FOLDER_DELIMITER+"database.db", "--image_path", "%input_dir%", "--output_path", "%reconstruction_dir%"]],
["Image Undistorter", # 15
colmap_binary,
["image_undistorter", "--image_path", "%input_dir%", "--input_path", "%reconstruction_dir%"+FOLDER_DELIMITER+"0", "--output_path", "%reconstruction_dir%"+FOLDER_DELIMITER+"dense", "--output_type", "COLMAP"]],
["Export to openMVS", # 16
os.path.join(openMVS_binary, "InterfaceCOLMAP"),
["-i", "%reconstruction_dir%"+FOLDER_DELIMITER+"dense", "-o", "scene.mvs", "--image-folder", "%reconstruction_dir%"+FOLDER_DELIMITER+"dense"+FOLDER_DELIMITER+"images", "-w", "\"%mvs_dir%\""]],
["Densify point cloud", # 17
os.path.join(openMVS_binary, "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_binary, "ReconstructMesh"),
["scene_dense.mvs", "-p", "scene_dense.ply", "-w", "\"%mvs_dir%\""]],
["Refine the mesh", # 19
os.path.join(openMVS_binary, "RefineMesh"),
["scene_dense.mvs", "-m", "scene_dense_mesh.ply", "-o", "scene_dense_mesh_refine.mvs", "--scales", "1", "--gradient-step", "25.05", "-w", "\"%mvs_dir%\""]],
["Texture the mesh", # 20
os.path.join(openMVS_binary, "TextureMesh"),
["scene_dense.mvs", "-m", "scene_dense_mesh_refine.ply", "-o", "scene_dense_mesh_refine_texture.mvs", "--decimate", "0.5", "-w", "\"%mvs_dir%\""]],
["Estimate disparity-maps", # 21
os.path.join(openMVS_binary, "DensifyPointCloud"),
["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-1", "-w", "\"%mvs_dir%\""]],
["Fuse disparity-maps", # 22
os.path.join(openMVS_binary, "DensifyPointCloud"),
["scene.mvs", "--dense-config-file", "Densify.ini", "--fusion-mode", "-2", "-w", "\"%mvs_dir%\""]]
]
def __getitem__(self, indice):
return ProcessStep(*self.steps_data[indice])
def length(self):
return len(self.steps_data)
def configure_steps(self, conf):
""" replace each %var% per conf.var value in steps data """
for step in self.steps_data:
updated_options = []
for option in step[2]:
configured_option = option.replace("%input_dir%", conf.input_dir)
configured_option = configured_option.replace("%output_dir%", conf.output_dir)
configured_option = configured_option.replace("%matches_dir%", conf.matches_dir)
configured_option = configured_option.replace("%reconstruction_dir%", conf.reconstruction_dir)
configured_option = configured_option.replace("%mvs_dir%", conf.mvs_dir)
configured_option = configured_option.replace("%camera_file_params%", conf.camera_file_params)
updated_options.append(configured_option)
step[2] = updated_options
def replace_option(self, idx, str_exist, str_new):
""" replace each existing str_exist with str_new per opt value in step idx data """
step = self.steps_data[idx]
updated_options = []
for option in step[2]:
configured_option = option.replace(str_exist, str_new)
updated_options.append(configured_option)
step[2] = updated_options
CONF = ConfigContainer()
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="Specify steps to process by index.")
PARSER.add_argument('--preset',
help="steps list preset in \r\n" +
" \r\n".join([k + " = " + str(SOFTWARE_PRESETS[k]) for k in SOFTWARE_PRESETS]) +
" \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
# Method to ensure a directory exists; creates it if it does not
def ensure_directory_exists(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)
ensure_directory_exists(CONF.output_dir)
ensure_directory_exists(CONF.reconstruction_dir)
ensure_directory_exists(CONF.matches_dir)
ensure_directory_exists(CONF.mvs_dir)
# Update directories in steps commandlines
STEPS.configure_steps(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 = SOFTWARE_PRESETS[CONF.preset]
except KeyError:
sys.exit("Unknown preset %s, choose %s" % (CONF.preset, ' or '.join([s for s in SOFTWARE_PRESETS])))
elif not CONF.steps:
CONF.steps = SOFTWARE_PRESETS[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_option(4, FOLDER_DELIMITER+"matches.f.bin", FOLDER_DELIMITER+"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_option(20, "scene_dense_mesh_refine.ply", "scene_dense_mesh.ply")
STEPS.replace_option(20, "scene_dense_mesh_refine_texture.mvs", "scene_dense_mesh_texture.mvs")
for cstep in CONF.steps:
printout("#%i. %s" % (cstep, STEPS[cstep].info), effect=INVERSE)
# Retrieve "passthrough" commandline options
options = getattr(CONF, str(cstep))
if options:
# add - sign to short options and -- to long ones
for o in range(0, len(options), 2):
if len(options[o]) > 1:
options[o] = '-' + options[o]
options[o] = '-' + options[o]
else:
options = []
# Remove STEPS[cstep].opt options now defined in opt
for anOpt in STEPS[cstep].opt:
if anOpt in options:
idx = STEPS[cstep].opt.index(anOpt)
if DEBUGDEBUG_MODE_ENABLED:
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 + options
print('CMD: ' + ' '.join(cmdline))
if not DEBUGDEBUG_MODE_ENABLED:
# 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)