Openmvs 240

.github/workflows/docker-gpu.yaml

@@ -38,6 +38,11 @@ jobs:
       push: ${{ github.ref == 'refs/heads/master' || startsWith(github.ref, 'refs/tags/v') }}
       file: ./gpu.Dockerfile
       target: runtime
+      # The SuperBuild nests ninja inside ninja; uncapped, both levels run
+      # cores+2 jobs and the free 16 GB runner is starved until GitHub kills
+      # it. cmake --build honours this at both levels, so 3 bounds it at 9.
+      build-args: |
+        CMAKE_BUILD_PARALLEL_LEVEL=3
       platforms: linux/amd64
       set-meta-labels: true
       meta-images: opendronemap/odm

.github/workflows/docker.yaml

@@ -25,6 +25,11 @@ jobs:
       push: ${{ github.ref == 'refs/heads/master' || startsWith(github.ref, 'refs/tags/v') }}
       file: ./Dockerfile
       target: runtime
+      # The SuperBuild nests ninja inside ninja; uncapped, both levels run
+      # cores+2 jobs and the free 16 GB runner is starved until GitHub kills
+      # it. cmake --build honours this at both levels, so 3 bounds it at 9.
+      build-args: |
+        CMAKE_BUILD_PARALLEL_LEVEL=3
       platforms: |
         linux/amd64
         linux/arm64

Dockerfile

@@ -19,6 +19,7 @@ RUN pixi install --locked \
     && rm -rf .pixi/envs/prod/include .pixi/envs/prod/share/doc .pixi/envs/prod/share/man .pixi/envs/prod/share/info
 
 COPY . ./
+ARG CMAKE_BUILD_PARALLEL_LEVEL
 RUN pixi run build && pixi run test
 
 RUN mkdir -p /odm-runtime/SuperBuild /odm-runtime/scripts \

SuperBuild/CMakeLists.txt

@@ -140,17 +140,17 @@ externalproject_add(mve
     INSTALL_COMMAND ""
 )
 
-foreach(lib ${custom_libs})
-	SETUP_EXTERNAL_PROJECT_CUSTOM(${lib})
-endforeach()
-
 include(ProcessorCount)
 if(DEFINED ENV{CMAKE_BUILD_PARALLEL_LEVEL})
   set(nproc $ENV{CMAKE_BUILD_PARALLEL_LEVEL})
 else()
   ProcessorCount(nproc)
 endif()
 
+foreach(lib ${custom_libs})
+	SETUP_EXTERNAL_PROJECT_CUSTOM(${lib})
+endforeach()
+
 if (WIN32)
     find_program(MSBUILD_EXECUTABLE msbuild REQUIRED)
     if(NOT CMAKE_VS_PLATFORM_TOOLSET)

SuperBuild/cmake/External-OpenMVS.cmake

@@ -100,7 +100,7 @@ ExternalProject_Add(${_proj_name}
   #--Download step--------------
   DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
   GIT_REPOSITORY    https://github.com/OpenDroneMap/openMVS
-  GIT_TAG           355
+  GIT_TAG           e7eda74782ffb97ec09a684e88361458e7ec2d1e
   #--Update/Patch step----------
   UPDATE_COMMAND    ""
   PATCH_COMMAND     ${OPENMVS_PATCH_COMMAND}
@@ -116,6 +116,7 @@ ExternalProject_Add(${_proj_name}
     -DOpenMVS_MAX_CUDA_COMPATIBILITY=ON
     -DINSTALL_USE_SUBDIR=OFF
     -DOpenMVS_USE_CUDA=${SB_ENABLE_CUDA}
+    -DCMAKE_CUDA_ARCHITECTURES=OFF
     ${GPU_CMAKE_ARGS}
     ${CONDA_CMAKE_ARGS}
     ${OPENMVS_WIN_CONDA_ARGS}

SuperBuild/cmake/External-OpenSfM.cmake

@@ -1,7 +1,5 @@
 set(_proj_name opensfm)
 set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
-include(ProcessorCount)
-ProcessorCount(nproc)
 
 set(EXTRA_INCLUDE_DIRS "")
 set(OPENSFM_ADDITIONAL_INCLUDE_DIRS "")
@@ -19,7 +17,7 @@ if(WIN32)
   set(OPENSFM_EXTRA_LINKER_FLAGS "$ENV{CONDA_PREFIX}/Library/lib/glog.lib $ENV{CONDA_PREFIX}/Library/lib/gflags.lib")
 else()
   set(OPENSFM_ADDITIONAL_INCLUDE_DIRS "${SB_INSTALL_DIR}/include")
-  set(BUILD_CMD ${CMAKE_COMMAND} --build . --parallel ${nproc})
+  set(BUILD_CMD ${CMAKE_COMMAND} --build .)
 endif()
 
 set(OPENSFM_CERES_ROOT_DIR "${SB_INSTALL_DIR}")

gpu.Dockerfile

@@ -23,6 +23,7 @@ RUN pixi install --locked -e gpu \
     && rm -rf .pixi/envs/gpu-prod/include .pixi/envs/gpu-prod/share/doc .pixi/envs/gpu-prod/share/man .pixi/envs/gpu-prod/share/info
 
 COPY . ./
+ARG CMAKE_BUILD_PARALLEL_LEVEL
 RUN pixi run -e gpu build && pixi run -e gpu test
 
 RUN mkdir -p /odm-runtime/SuperBuild /odm-runtime/scripts \

opendm/config.py

@@ -71,6 +71,10 @@
     'pc_quality': 'opensfm',
     'pc_rectify': 'odm_georeferencing',
     'pc_sample': 'odm_filterpoints',
+    'pc_fusion_filter': 'openmvs',
+    'pc_fusion_depth_diff': 'openmvs',
+    'pc_fusion_reprojection': 'openmvs',
+    'pc_crop_to_roi': 'openmvs',
     'pc_skip_geometric': 'openmvs',
     'primary_band': 'dataset',
     'project_path': None,
@@ -510,6 +514,41 @@ def config(argv=None, parser=None):
                         help='Filters the point cloud by keeping only a single point around a radius N (in meters). This can be useful to limit the output resolution of the point cloud and remove duplicate points. Set to 0 to disable sampling. '
                              'Default: %(default)s')
 
+    parser.add_argument('--pc-fusion-filter',
+                        metavar='<string>',
+                        action=StoreValue,
+                        default='fuse',
+                        choices=['merge', 'fuse', 'dense-fuse'],
+                        help='Select algorithm to fuse the depth-maps into a point cloud. '
+                             '"merge" Keeps everything, i.e. one point per depth pixel. '
+                             '"fuse" aggregates points and keeps the weighted mean (projecting back the point into other depth maps) '
+                             '"dense-fuse" applies a stricter consensus, it requires a certain amount (default 5) to actually create the point.'
+                             'Can be one of: %(choices)s. Default: %(default)s')
+
+    parser.add_argument('--pc-fusion-depth-diff',
+                        metavar='<positive float>',
+                        action=StoreValue,
+                        type=float,
+                        default=0.01,
+                        help='Maximum relative depth difference, as a fraction of the depth, for two depth estimates to be fused. '
+                             'Default: %(default)s')
+
+    parser.add_argument('--pc-fusion-reprojection',
+                        metavar='<positive float>',
+                        action=StoreValue,
+                        type=float,
+                        default=1.2,
+                        help='Maximum reprojection distance in pixels for two depth estimates to be fused.'
+                             'Only used by "dense-fuse".'
+                             'Default: %(default)s')
+
+    parser.add_argument('--pc-crop-to-roi',
+                        action=StoreTrue,
+                        nargs=0,
+                        default=False,
+                        help='Crop the point cloud to the ROI (region of interest), if not given, it is estimated by OpenMVS'
+                             'Default: %(default)s')
+
     parser.add_argument('--pc-skip-geometric',
                         action=StoreTrue,
                         nargs=0,