Merge branch 'develop' into master (#512)

- open depth-map `DMAP` file format for easy utilization outside `OpenMVS` (see `ExportDepthDataRaw()` and `ImportDepthDataRaw()`) - expose some depth-map functions in `SceneDensify.h` - add global `ID` support to image structure to allow processing large scenes by splitting them into multiple sub-scenes to be processed individually
cdcseacave · Jan 5, 2020 · 2289a04 · 2289a04
1 parent c0b7a6f
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diff --git a/.appveyor.yml b/.appveyor.yml
@@ -1,9 +1,10 @@
-# Specify version format
+# specify version format
 version: "{build}"
 
 image:
   - Visual Studio 2017
   - ubuntu1804
+  - macos
 
 platform:
   - x64
@@ -17,105 +18,107 @@ configuration:
   - Debug
   - Release
 
-# scripts that are called at very beginning, before repo cloning
-init:
-  #------------------
-  # Windows 10
-  #------------------
-  - cmd: ver
-  - cmd: cmake --version
-  - cmd: msbuild /version
-
-  #------------------
-  # Ubuntu 18.04 LTS 
-  #------------------
-  - sh: lsb_release -a
-  - sh: cmake --version
-
 # branches to build
 branches:
   # blacklist
   except:
     - gh-pages
 
-# scripts that run after cloning repository
-install:
+for:
+-
   #------------------
   # Windows 10
   #------------------
-  # update vcpkg
-  - cmd: cd C:\tools\vcpkg
-  - cmd: git pull
-  - cmd: .\bootstrap-vcpkg.bat
-
-  - cmd: if "%platform%"=="Win32" set VCPKG_ARCH=x86-windows
-  - cmd: if "%platform%"=="x64"   set VCPKG_ARCH=x64-windows
-
-  # remove outdated versions
-  - cmd: vcpkg remove --outdated --recurse
-
-  # install required dependencies
-  - cmd: vcpkg install --recurse --triplet %VCPKG_ARCH% zlib boost-iostreams boost-program-options boost-system boost-serialization eigen3 cgal[core] opencv
-
-  # install optional dependencies
-  - cmd: vcpkg install --recurse --triplet %VCPKG_ARCH% glew glfw3
-
-  - cmd: vcpkg integrate install
-  - cmd: cd "%APPVEYOR_BUILD_FOLDER%"
-
-  #------------------
-  # Ubuntu 18.04 LTS 
-  #------------------
-  - sh: sudo apt-get update -qq && sudo apt-get install -qq
-  - sh: sudo apt-get -y install build-essential git mercurial cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev libxmu-dev libxi-dev
-  - sh: sudo apt-get -y install libboost-iostreams-dev libboost-program-options-dev libboost-system-dev libboost-serialization-dev
-  - sh: sudo apt-get -y install libopencv-dev libcgal-dev libcgal-qt5-dev libatlas-base-dev
-  #- sh: sudo apt-get -y install libsuitesparse-dev libceres-dev
-  - sh: sudo apt-get -y install freeglut3-dev libglew-dev libglfw3-dev
-
-# preserve contents of selected directories and files across project builds
-for:
--
   matrix:
     only:
       - image: Visual Studio 2017
+  # scripts that are called at very beginning, before repo cloning
+  init:
+    - ver
+    - cmake --version
+    - msbuild /version
+  # scripts that run after cloning repository
+  install:
+    # update vcpkg
+    - cd C:\tools\vcpkg
+    - git pull
+    - .\bootstrap-vcpkg.bat
+    - if "%platform%"=="Win32" set VCPKG_ARCH=x86-windows
+    - if "%platform%"=="x64"   set VCPKG_ARCH=x64-windows
+    # remove outdated versions
+    - vcpkg remove --outdated --recurse
+    # install dependencies
+    - vcpkg install --recurse --triplet %VCPKG_ARCH% zlib boost-iostreams boost-program-options boost-system boost-serialization eigen3 cgal[core] opencv glew glfw3
+    - vcpkg integrate install
+    - cd "%APPVEYOR_BUILD_FOLDER%"
+  # preserve contents of selected directories and files across project builds
   cache:
     - 'C:\tools\vcpkg\installed'
+  build_script:
+    - git clone https://github.com/cdcseacave/VCG.git
+    - if "%platform%"=="Win32" set CMAKE_GENERATOR=-G"Visual Studio 15 2017"
+    - if "%platform%"=="x64"   set CMAKE_GENERATOR=-G"Visual Studio 15 2017 Win64"
+    - mkdir bin && cd bin
+    - cmake %CMAKE_GENERATOR% -DCMAKE_BUILD_TYPE=%Configuration% -DCMAKE_TOOLCHAIN_FILE="C:\tools\vcpkg\scripts\buildsystems\vcpkg.cmake" -DVCG_ROOT="%APPVEYOR_BUILD_FOLDER%\VCG" ..
+    - cmake --build . --target ALL_BUILD --config %Configuration% -- /maxcpucount:4
 -
+  #------------------
+  # Ubuntu 18.04 LTS
+  #------------------
   matrix:
     only:
       - image: ubuntu1804
+  # scripts that are called at very beginning, before repo cloning
+  init:
+    - lsb_release -a
+    - cmake --version
+    - gcc -v
+  # scripts that run after cloning repository
+  install:
+    - sudo apt-get update -qq && sudo apt-get install -qq
+    - sudo apt-get -y install build-essential git cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev libxmu-dev libxi-dev
+    - sudo apt-get -y install libboost-iostreams-dev libboost-program-options-dev libboost-system-dev libboost-serialization-dev
+    - sudo apt-get -y install libopencv-dev libcgal-dev libcgal-qt5-dev libatlas-base-dev
+    - sudo apt-get -y install freeglut3-dev libglew-dev libglfw3-dev
+  # preserve contents of selected directories and files across project builds
   cache:
     - '/usr/lib/x86_64-linux-gnu/'
-
-build_script:
-  # get VCG library
-  - git clone https://github.com/cdcseacave/VCG.git
-
-  #------------------
-  # Windows 10
-  #------------------
-  - cmd: if "%platform%"=="Win32" set CMAKE_GENERATOR=-G"Visual Studio 15 2017"
-  - cmd: if "%platform%"=="x64"   set CMAKE_GENERATOR=-G"Visual Studio 15 2017 Win64"
-  - cmd: mkdir bin && cd bin
-  - cmd: cmake %CMAKE_GENERATOR% -DCMAKE_BUILD_TYPE=%Configuration% -DCMAKE_TOOLCHAIN_FILE="C:\tools\vcpkg\scripts\buildsystems\vcpkg.cmake" -DVCG_ROOT="%APPVEYOR_BUILD_FOLDER%\VCG" ..
-  - cmd: cmake --build . --target ALL_BUILD --config %Configuration% -- /maxcpucount:4
-
+  build_script:
+    - git clone https://github.com/cdcseacave/VCG.git
+    - git clone --single-branch --branch 3.2 https://gitlab.com/libeigen/eigen.git
+    - mkdir eigen_build && cd eigen_build
+    - cmake . ../eigen
+    - make && sudo make install
+    - cd ..
+    - mkdir bin && cd bin
+    - cmake -DCMAKE_BUILD_TYPE=$Configuration -DVCG_ROOT="$APPVEYOR_BUILD_FOLDER/VCG" ..
+    - make
+-
   #------------------
-  # Ubuntu 18.04 LTS
+  # MacOS
   #------------------
-  - sh: hg clone https://bitbucket.org/eigen/eigen#3.2
-  - sh: mkdir eigen_build && cd eigen_build
-  - sh: cmake . ../eigen
-  - sh: make && sudo make install
-  - sh: cd ..
-  - sh: mkdir bin && cd bin
-  - sh: cmake -DCMAKE_BUILD_TYPE=$Configuration -DVCG_ROOT="$APPVEYOR_BUILD_FOLDER/VCG" ..
-  - sh: make
-
-test_script:
-  #- cmd: ctest --build-config %Configuration% --parallel 4 --output-on-failure
-  #- sh: ctest -j4
+  matrix:
+    only:
+      - image: macos
+  # scripts that are called at very beginning, before repo cloning
+  init:
+    - system_profiler SPSoftwareDataType
+    - cmake --version
+    - gcc -v
+  # scripts that run after cloning repository
+  install:
+    - brew update
+    - printf "#%s/bin/bash\nbrew install libomp boost eigen opencv cgal glew glfw3\nexit 0\n" "!" > install.sh
+    - chmod +x install.sh
+    - ./install.sh
+  # preserve contents of selected directories and files across project builds
+  cache:
+    - '/usr/local/Cellar/'
+  build_script:
+    - git clone https://github.com/cdcseacave/VCG.git
+    - mkdir bin && cd bin
+    - cmake -DCMAKE_BUILD_TYPE=$CONFIGURATION -DVCG_ROOT="$APPVEYOR_BUILD_FOLDER/VCG" ..
+    - make
 
 on_success:
   - cmd: 7z a OpenMVS_x64.7z "C:\projects\openmvs\bin\bin\vc15\x64\%Configuration%\*.exe" "C:\projects\openmvs\bin\bin\vc15\x64\%Configuration%\*.dll"

diff --git a/.gitignore b/.gitignore
@@ -34,5 +34,6 @@ CMakeSettings.json
 .vs/
 .idea/
 .vscode/
+out/
 bin/
 binaries/
diff --git a/BUILD.md b/BUILD.md
@@ -3,7 +3,7 @@ Dependencies
 ------------
 
 *OpenMVS* relies on a number of open source libraries, some of which are optional. For details on customizing the build process, see the compilation instructions.
-* [Eigen](http://eigen.tuxfamily.org) version 3.2 or higher
+* [Eigen](http://eigen.tuxfamily.org) version 3.2 (or higher on Windows only)
 * [OpenCV](http://opencv.org) version 2.4 or higher
 * [Ceres](http://ceres-solver.org) version 1.10 or higher
 * [CGAL](http://www.cgal.org) version 4.2 or higher
@@ -60,11 +60,11 @@ Linux compilation
 ```
 #Prepare and empty machine for building:
 sudo apt-get update -qq && sudo apt-get install -qq
-sudo apt-get -y install git mercurial cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev
+sudo apt-get -y install git cmake libpng-dev libjpeg-dev libtiff-dev libglu1-mesa-dev
 main_path=`pwd`
 
 #Eigen (Required)
-hg clone https://bitbucket.org/eigen/eigen#3.2
+git clone https://gitlab.com/libeigen/eigen.git --branch 3.2
 mkdir eigen_build && cd eigen_build
 cmake . ../eigen
 make && sudo make install
@@ -114,10 +114,12 @@ Install dependencies, run CMake and make.
 ```
 #Install dependencies
 brew update
-brew tap homebrew/science
-brew install boost eigen opencv cgal ceres-solver
+brew install boost eigen opencv cgal
 main_path=`pwd`
 
+#GLFW3 (Optional)
+brew install glew glfw3
+
 #VCGLib (Required)
 git clone https://github.com/cdcseacave/VCG.git vcglib
 

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -12,9 +12,9 @@ CMAKE_MINIMUM_REQUIRED(VERSION 3.1.0)
 # ${OpenMVS_BINARY_DIR}.
 PROJECT(OpenMVS)
 
-set(OpenMVS_MAJOR_VERSION 0)
-set(OpenMVS_MINOR_VERSION 7)
-set(OpenMVS_PATCH_VERSION 0)
+set(OpenMVS_MAJOR_VERSION 1)
+set(OpenMVS_MINOR_VERSION 0)
+set(OpenMVS_PATCH_VERSION 1)
 set(OpenMVS_VERSION ${OpenMVS_MAJOR_VERSION}.${OpenMVS_MINOR_VERSION}.${OpenMVS_PATCH_VERSION})
 
 # Find dependencies:
@@ -55,12 +55,20 @@ SET(OpenMVS_CONFIG_INCLUDE_DIR "${CMAKE_BINARY_DIR}/" CACHE PATH "Where to creat
 INCLUDE_DIRECTORIES("${OpenMVS_SOURCE_DIR}")
 
 # Find required packages
+SET(OpenMVS_EXTRA_LIBS "")
 if(OpenMVS_USE_OPENMP)
+	SET(OpenMP_LIBS "")
 	FIND_PACKAGE(OpenMP)
 	if(OPENMP_FOUND)
 		SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
 		ADD_DEFINITIONS(-D_USE_OPENMP)
 		SET(_USE_OPENMP TRUE)
+		#cmake only check for separate OpenMP library on AppleClang 7+
+		#https://github.com/Kitware/CMake/blob/42212f7539040139ecec092547b7d58ef12a4d72/Modules/FindOpenMP.cmake#L252
+		if (CMAKE_CXX_COMPILER_ID MATCHES "AppleClang" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL "7.0")
+			SET(OpenMP_LIBS ${OpenMP_libomp_LIBRARY})
+			LIST(APPEND OpenMVS_EXTRA_LIBS ${OpenMP_LIBS})
+		endif()
 	else()
 		message("-- Can't find OpenMP. Continuing without it.")
 	endif()
@@ -97,6 +105,7 @@ if(OpenMVS_USE_BREAKPAD)
 		INCLUDE_DIRECTORIES(${BREAKPAD_INCLUDE_DIRS})
 		ADD_DEFINITIONS(${BREAKPAD_DEFINITIONS} -D_USE_BREAKPAD)
 		SET(_USE_BREAKPAD TRUE)
+		LIST(APPEND OpenMVS_EXTRA_LIBS ${BREAKPAD_LIBS})
 	else()
 		MESSAGE("-- Can't find BreakPad. Continuing without it.")
 	endif()

diff --git a/apps/DensifyPointCloud/CMakeLists.txt b/apps/DensifyPointCloud/CMakeLists.txt
@@ -5,11 +5,7 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags_no_pch(DensifyPointCloud "Apps" "${cxx_default}" "MVS" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
-
-if(OpenMVS_USE_BREAKPAD AND BREAKPAD_FOUND)
-	target_link_libraries(DensifyPointCloud ${BREAKPAD_LIBS})
-endif()
+cxx_executable_with_flags_no_pch(DensifyPointCloud "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
 INSTALL(TARGETS DensifyPointCloud

diff --git a/apps/InterfaceCOLMAP/CMakeLists.txt b/apps/InterfaceCOLMAP/CMakeLists.txt
@@ -5,13 +5,9 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags_no_pch(InterfaceCOLMAP "Apps" "${cxx_default}" "MVS" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
-
-if(3Dnovator_USE_BREAKPAD AND BREAKPAD_FOUND)
-	target_link_libraries(InterfaceCOLMAP ${BREAKPAD_LIBS})
-endif()
+cxx_executable_with_flags_no_pch(InterfaceCOLMAP "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
 INSTALL(TARGETS InterfaceCOLMAP
-	EXPORT 3DnovatorTargets
+	EXPORT OpenMVSTargets
 	RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT bin)
diff --git a/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp b/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp
@@ -449,6 +449,10 @@ bool ImportScene(const String& strFolder, Interface& scene)
 			scene.platforms.push_back(platform);
 		}
 	}
+	if (mapCameras.empty()) {
+		VERBOSE("error: no valid cameras (make sure they are in PINHOLE model)");
+		return false;
+	}
 
 	// read images list
 	typedef std::map<COLMAP::Image, uint32_t> ImagesMap;
@@ -472,6 +476,7 @@ bool ImportScene(const String& strFolder, Interface& scene)
 			image.name = OPT::strImageFolder+imageColmap.name;
 			image.platformID = mapCameras.at(imageColmap.idCamera);
 			image.cameraID = 0;
+			image.ID = imageColmap.ID;
 			Interface::Platform& platform = scene.platforms[image.platformID];
 			image.poseID = (uint32_t)platform.poses.size();
 			platform.poses.push_back(pose);

diff --git a/apps/InterfaceOpenMVG/CMakeLists.txt b/apps/InterfaceOpenMVG/CMakeLists.txt
@@ -15,11 +15,7 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags_no_pch(InterfaceOpenMVG "Apps" "${cxx_default}" "${LIBS_DEPEND}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
-
-if(OpenMVS_USE_BREAKPAD AND BREAKPAD_FOUND)
-	target_link_libraries(InterfaceOpenMVG ${BREAKPAD_LIBS})
-endif()
+cxx_executable_with_flags_no_pch(InterfaceOpenMVG "Apps" "${cxx_default}" "${LIBS_DEPEND};${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
 INSTALL(TARGETS InterfaceOpenMVG

diff --git a/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp b/apps/InterfaceOpenMVG/InterfaceOpenMVG.cpp
@@ -602,6 +602,7 @@ int main(int argc, LPCTSTR* argv)
 			const String srcImage(MAKE_PATH_FULL(WORKING_FOLDER_FULL, pathRoot+image.name));
 			image.name = MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputImageFolder+image.name);
 			Util::ensureDirectory(image.name);
+			image.ID = static_cast<MVS::IIndex>(view.first);
 			image.platformID = map_intrinsic.at(view.second->id_intrinsic);
 			MVS::Platform& platform = scene.platforms[image.platformID];
 			image.cameraID = 0;
@@ -688,6 +689,7 @@ int main(int argc, LPCTSTR* argv)
 			image.name = imageBAF.name;
 			Util::ensureUnifySlash(image.name);
 			image.name = MAKE_PATH_FULL(WORKING_FOLDER_FULL, image.name);
+			image.ID = imageBAF.id_camera;
 			image.platformID = imageBAF.id_camera;
 			MVS::Platform& platform = scene.platforms[image.platformID];
 			image.cameraID = 0;

diff --git a/apps/InterfacePhotoScan/CMakeLists.txt b/apps/InterfacePhotoScan/CMakeLists.txt
@@ -5,11 +5,7 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags_no_pch(InterfacePhotoScan "Apps" "${cxx_default}" "${LIBS_DEPEND}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
-
-if(OpenMVS_USE_BREAKPAD AND BREAKPAD_FOUND)
-	target_link_libraries(InterfacePhotoScan ${BREAKPAD_LIBS})
-endif()
+cxx_executable_with_flags_no_pch(InterfacePhotoScan "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
 INSTALL(TARGETS InterfacePhotoScan

diff --git a/apps/InterfacePhotoScan/InterfacePhotoScan.cpp b/apps/InterfacePhotoScan/InterfacePhotoScan.cpp
@@ -344,6 +344,7 @@ bool ParseImageListXML(MVS::Scene& scene, PlatformDistCoeffs& pltDistCoeffs, siz
 		imageData.name = MAKE_PATH_FULL(strPath, imageData.name);
 		imageData.platformID = camera->UnsignedAttribute(_T("sensor_id"));
 		imageData.cameraID = 0; // only one camera per platform supported by this format
+		imageData.ID = ID;
 		if (!camera->BoolAttribute(_T("enabled"))) {
 			imageData.poseID = NO_ID;
 			DEBUG_EXTRA("warning: uncalibrated image '%s'", name);

diff --git a/apps/InterfaceVisualSFM/CMakeLists.txt b/apps/InterfaceVisualSFM/CMakeLists.txt
@@ -5,11 +5,7 @@ else()
 endif()
 FILE(GLOB LIBRARY_FILES_H "*.h" "*.inl")
 
-cxx_executable_with_flags_no_pch(InterfaceVisualSFM "Apps" "${cxx_default}" "MVS" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
-
-if(OpenMVS_USE_BREAKPAD AND BREAKPAD_FOUND)
-	target_link_libraries(InterfaceVisualSFM ${BREAKPAD_LIBS})
-endif()
+cxx_executable_with_flags_no_pch(InterfaceVisualSFM "Apps" "${cxx_default}" "MVS;${OpenMVS_EXTRA_LIBS}" ${LIBRARY_FILES_C} ${LIBRARY_FILES_H})
 
 # Install
 INSTALL(TARGETS InterfaceVisualSFM