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OpenDroneMap / ODM

A command line toolkit to generate maps, point clouds, 3D models and DEMs from drone, balloon or kite images. 📷
https://opendronemap.org
GNU Affero General Public License v3.0
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Computing neighbors errors #609

Closed NguyenHuynh0594 closed 6 years ago

NguyenHuynh0594 commented 7 years ago

For some reason, I ran into this problem while running this specific flight. This flight contains 176 images, all geotagged.

python /home/winwinnh/Desktop/OpenDroneMap/run.py --use-exif --time --dem --build-overviews --project-path pathtoproject

2017-06-22 00:01:41,792 Computing neighbors /home/winwinnh/Desktop/OpenDroneMap/SuperBuild/src/opensfm/opensfm/dense.py:238: RuntimeWarning: invalid value encountered in arccos return np.arccos(a.dot(b) / (np.linalg.norm(a) * np.linalg.norm(b))) 2017-06-22 00:01:51,553 Computing depthmap for image 2017_0524_164936_206_geotag.JPG 2017-06-22 00:02:30,196 Computing depthmap for image 2017_0524_164724_132_geotag.JPG 2017-06-22 00:03:07,329 Computing depthmap for image 2017_0524_164603_086_geotag.JPG 2017-06-22 00:03:45,525 Computing depthmap for image 2017_0524_164735_138_geotag.JPG 2017-06-22 00:04:23,963 Computing depthmap for image 2017_0524_165145_278_geotag.JPG 2017-06-22 00:05:04,032 Computing depthmap for image 2017_0524_164542_074_geotag.JPG 2017-06-22 00:05:45,810 Computing depthmap for image 2017_0524_165055_250_geotag.JPG 2017-06-22 00:06:26,299 Computing depthmap for image 2017_0524_164553_080_geotag.JPG ^CTraceback (most recent call last): File "/home/winwinnh/Desktop/OpenDroneMap/SuperBuild/src/opensfm/bin/opensfm", line 34, in command.run(args) File "/home/winwinnh/Desktop/OpenDroneMap/SuperBuild/src/opensfm/opensfm/commands/compute_depthmaps.py", line 25, in run dense.compute_depthmaps(data, graph, reconstructions[0]) File "/home/winwinnh/Desktop/OpenDroneMap/SuperBuild/src/opensfm/opensfm/dense.py", line 31, in compute_depthmaps parallel_run(compute_depthmap, arguments, processes) File "/home/winwinnh/Desktop/OpenDroneMap/SuperBuild/src/opensfm/opensfm/dense.py", line 47, in parallel_run return [function(arg) for arg in arguments] File "/home/winwinnh/Desktop/OpenDroneMap/SuperBuild/src/opensfm/opensfm/dense.py", line 68, in compute_depthmap depth, plane, score = de.compute_patch_match() KeyboardInterrupt Traceback (most recent call last): File "/home/winwinnh/Desktop/OpenDroneMap/run.py", line 46, in plasm.execute(niter=1) File "/home/winwinnh/Desktop/OpenDroneMap/scripts/opensfm.py", line 128, in process (context.pyopencv_path, context.opensfm_path, tree.opensfm)) File "/home/winwinnh/Desktop/OpenDroneMap/opendm/system.py", line 26, in run raise Exception("Child was terminated by signal {}".format(-retcode)) Exception: Child was terminated by signal 2

dakotabenjamin commented 7 years ago

It looks like it was just a warning. Can you try to run the thing through and see if you get a dense point cloud despite the warning?

NguyenHuynh0594 commented 7 years ago

The process just stops every times.

[INFO] Resized 175 images [INFO] Running ODM Resize Cell - Finished [INFO] Running ODM OpenSfM Cell [WARNING] Found a feature matching done progress file in: /media/winwinnh/Work_Storage/Job/Job_1/RED/FLIGHT_5_RED/opensfm/matching_done.txt [WARNING] Found a valid OpenSfM tracks file in: /media/winwinnh/Work_Storage/Job/Job_1/RED/FLIGHT_5_RED/opensfm/tracks.csv [WARNING] Found a valid OpenSfM reconstruction file in: /media/winwinnh/Work_Storage/Job/Job_1/RED/FLIGHT_5_RED/opensfm/reconstruction.json [WARNING] Found a valid OpenSfM meshed reconstruction file in: /media/winwinnh/Work_Storage/Job/Job_1/RED/FLIGHT_5_RED/opensfm/reconstruction.meshed.json [WARNING] Found a valid OpenSfM NVM reconstruction file in: /media/winwinnh/Work_Storage/Job/Job_1/RED/FLIGHT_5_RED/opensfm/reconstruction.nvm [DEBUG] running PYTHONPATH=/home/winwinnh/Desktop/OpenDroneMap/SuperBuild/install/lib/python2.7/dist-packages /home/winwinnh/Desktop/OpenDroneMap/SuperBuild/src/opensfm/bin/opensfm undistort /media/winwinnh/Work_Storage/Job/Job_1/RED/FLIGHT_5_RED/opensfm Traceback (most recent call last): File "/home/winwinnh/Desktop/OpenDroneMap/SuperBuild/src/opensfm/bin/opensfm", line 34, in command.run(args) File "/home/winwinnh/Desktop/OpenDroneMap/SuperBuild/src/opensfm/opensfm/commands/undistort.py", line 23, in run self.undistort_images(reconstructions[0], data) File "/home/winwinnh/Desktop/OpenDroneMap/SuperBuild/src/opensfm/opensfm/commands/undistort.py", line 28, in undistort_images image = data.image_as_array(shot.id) File "/home/winwinnh/Desktop/OpenDroneMap/SuperBuild/src/opensfm/opensfm/dataset.py", line 65, in image_as_array return cv2.imread(self.image_file(image), IMREAD_COLOR)[:,:,::-1] # Turn BGR to RGB File "/home/winwinnh/Desktop/OpenDroneMap/SuperBuild/src/opensfm/opensfm/dataset.py", line 57, in image_file return self.image_files[image] KeyError: u'2017_0524_164553_080_geotag.JPG' Traceback (most recent call last): File "/home/winwinnh/Desktop/OpenDroneMap/run.py", line 46, in plasm.execute(niter=1) File "/home/winwinnh/Desktop/OpenDroneMap/scripts/opensfm.py", line 126, in process (context.pyopencv_path, context.opensfm_path, tree.opensfm)) File "/home/winwinnh/Desktop/OpenDroneMap/opendm/system.py", line 28, in run raise Exception("Child returned {}".format(retcode)) Exception: Child returned 1 winwinnh@winwinnhUbuntu:~/Desktop/OpenDroneMap$

dakotabenjamin commented 7 years ago

Delete the opensfm folder and try again.

NguyenHuynh0594 commented 7 years ago

It didn't give that error after deleting opensfm then rerunning it. Also deleted this image cause I thought it was also the problem.

2017-06-22 00:06:26,299 Computing depthmap for image 2017_0524_164553_080_geotag.JPG

The program completed normally after that, except it did not create the orthophoto.tif, only png. The png however is pretty messed up.

[INFO] Running ODM Meshing Cell - Finished [INFO] Running MVS Texturing Cell [DEBUG] Writing MVS Textured file in: /media/winwinnh/Work_Storage/JOB/Job_1/RED/FLIGHT_5_RED/odm_texturing/odm_textured_model.obj [DEBUG] running /home/winwinnh/Desktop/OpenDroneMap/SuperBuild/install/bin/texrecon /media/winwinnh/Work_Storage/JOB/Job_1/RED/FLIGHT_5_RED/opensfm/reconstruction.nvm /media/winwinnh/Work_Storage/JOB/Job_1/RED/FLIGHT_5_RED/odm_meshing/odm_mesh.ply /media/winwinnh/Work_Storage/JOB/Job_1/RED/FLIGHT_5_RED/odm_texturing/odm_textured_model -d gmi -o gauss_clamping -t none
/home/winwinnh/Desktop/OpenDroneMap/SuperBuild/install/bin/texrecon (built on Jun 19 2017, 01:29:30) Load and prepare mesh: PLY Loader: comment PCL generated Reading PLY: 99987 verts... 199908 faces... done. Generating texture views: NVM: Loading file... NVM: Number of views: 155 NVM: Number of features: 0 Loading 100%... done. (Took 12.092s)
Building adjacency graph: Adding edges 100%... done. (Took 0.563s)
299751 total edges. View selection: Building BVH from 199908 faces... done. (Took: 373 ms) Calculating face qualities 100%... done. (Took 8.584s)
Postprocessing face infos 100%... done. (Took 0.057s)
Maximum quality of a face within an image: 21107.9 Clamping qualities to 54.8859 within normalization. Writing data cost file... done. 93591 faces have not been seen by a view. Comp Iter Energy Runtime 0000 0 232052 0.005 0000 1 190052 0.14 0000 2 172870 0.269 0000 3 168730 0.398 0000 4 163491 0.526 0000 5 159771 0.655 0000 6 155958 0.784 0000 7 152373 0.913 0000 8 148780 1.042 0000 9 145036 1.171 0000 10 141882 1.3 0000 11 139464 1.433 0000 12 137220 1.568 0000 13 135216 1.705 0000 14 133659 1.839 0000 15 131885 1.972 0000 16 130568 2.105 0000 17 129711 2.238 0000 18 128429 2.371 0000 19 127737 2.504 0000 20 126805 2.634 0000 21 126111 2.764 0000 22 125629 2.893 0000 23 125085 3.023 0000 24 124517 3.152 0000 25 124194 3.281 0000 26 123902 3.412 0000 27 123275 3.541 0000 28 122861 3.67 0000 29 122712 3.798 0000 30 122332 3.928 0000 31 122112 4.056 0000 32 121927 4.185 0000 33 121846 4.313 0000 34 121701 4.442 0000 35 121683 4.57 0000 36 121488 4.699 0000 37 121319 4.829 0000 38 121123 4.969 0000 39 121073 5.109 0000 40 120946 5.241 0000 41 120973 0000 Increase of energy - stopping optimization Took: 18.735s Generating texture patches: Running... done. (Took 2.564s) 3900 texture patches. Running global seam leveling: Create matrices for optimization... done. Lhs dimensionality: 74741 x 74741 Calculating adjustments: Color channel 0: CG took 100 iterations. Residual is 9.50446e-05 Color channel 1: CG took 100 iterations. Residual is 9.62947e-05 Color channel 2: CG took 102 iterations. Residual is 9.82383e-05 Took 0.221 seconds Adjusting texture patches 100%... done. (Took 1.16s)
Running local seam leveling: Blending texture patches 100%... done. (Took 13.6s)
Generating texture atlases: Sorting texture patches... done. Working on atlas 21 100%... done. Finalizing texture atlases... done. (Took: 5.727s) Building objmodel: Saving model... done. Whole texturing procedure took: 92.558s [INFO] Running ODM Texturing Cell - Finished [INFO] Running ODM Georeferencing Cell [DEBUG] None [WARNING] No coordinates file. Generating coordinates file: /media/winwinnh/Work_Storage/JOB/Job_1/RED/FLIGHT_5_RED/odm_georeferencing/coords.txt [WARNING] Could not generate coordinates file. Ignore if there is a GCP file. Error: Error in OdmExtractUtm: Image is missing GPS Latitude data For more detailed information, see log file.

[WARNING] Georeferencing failed. Make sure your photos have geotags in the EXIF or you have provided a GCP file. [WARNING] Found a valid georeferenced model in: /media/winwinnh/Work_Storage/JOB/Job_1/RED/FLIGHT_5_RED/odm_georeferencing/odm_georeferenced_model.ply [INFO] Running ODM Georeferencing Cell - Finished [INFO] Running ODM Orthophoto Cell [DEBUG] running /home/winwinnh/Desktop/OpenDroneMap/build/bin/odm_orthophoto -inputFile /media/winwinnh/Work_Storage/JOB/Job_1/RED/FLIGHT_5_RED/odm_texturing/odm_textured_model.obj -logFile /media/winwinnh/Work_Storage/JOB/Job_1/RED/FLIGHT_5_RED/odm_orthophoto/odm_orthophoto_log.txt -outputFile /media/winwinnh/Work_Storage/JOB/Job_1/RED/FLIGHT_5_RED/odm_orthophoto/odm_orthophoto.png -resolution 20.0 -outputCornerFile /media/winwinnh/Work_Storage/JOB/Job_1/RED/FLIGHT_5_RED/odm_orthophoto/odm_orthophoto_corners.txt [WARNING] No coordinates file. A georeferenced raster will not be created [INFO] Running ODM OrthoPhoto Cell - Finished [INFO] OpenDroneMap app finished - Thu Jun 22 17:25:17 2017 winwinnh@winwinnhUbuntu:~/Desktop/OpenDroneMap$

image

dakotabenjamin commented 7 years ago

Do your images ahve GPS in their EXIF? Otherwise you will need to either geotag them if you have the drone GPS track (most mission planning software has this functionality) or generate a GCP file.

NguyenHuynh0594 commented 7 years ago

They do. We had 6 flights total, 4 of them worked perfectly and the other 2 does the above. For the one that worked, the images came out with randomly distributed small/missing dots/areas and distorted around the edges. Had a buddy of mine try the free version of Pix4D, and all the individual flights worked perfectly.

dakotabenjamin commented 7 years ago

Some possible things that I can suggest, but I don't know without seeing the data.

  1. Something is wrong with the image GPS (malformed, missing, or otherwise)
  2. The reconstruction failed to create a cohesive reconstruction. This can happen if the overlap was low or there are a lot of difficult-to-reconstruct features like dense vegetation.

I think ODM is a little more finicky about data quality than pix4d. Something for us to work on and improve for sure.

I can try to offer some ways to hopefully fix the problems.

  1. check the image exif with a tool like exiftool to see if there's anything wrong or missing
  2. Try these parameters: 
    --resize-to 2000
if you make the images smaller, it can improve the reconstruction, at the expense of some quality in the mosaic
--min-num-features 8000
increasing the number of features could potentially enable a complete reconstruction
dakotabenjamin commented 6 years ago

This issue was moved to http://community.opendronemap.org/t/computing-neighbors-errors/390