Merge remote-tracking branch 'refs/remotes/origin/develop'

README.md

@@ -18,6 +18,11 @@ The Regard3D source code is released under the [MIT license](http://opensource.o
 Version history
 ---------------
 
+###Version 0.9.2, 19.08.2017:
+- Upgraded to OpenMVG 1.2, AssImp 4.0.1
+- Added Fast-AKAZE, TBMR keypoint detectors
+- Bugfix: Export of textured surfaces now works again (Issue #4)
+
 ###Version 0.9.1, 01.02.2017:
 - Upgraded to OpenMVG 1.1
 - Third-party programs (MVE, PoissonRecon) up to date

src/CMakeLists.txt

@@ -387,8 +387,8 @@ ENDIF(MSVC)
 
 # AssImp
 IF(WIN32 OR APPLE)
-	LIST(APPEND CMAKE_MODULE_PATH "${ASSIMP_DIR}/lib/cmake/assimp-3.1" )
-	LIST(APPEND CMAKE_PREFIX_PATH "${ASSIMP_DIR}/lib/cmake/assimp-3.1" )
+	LIST(APPEND CMAKE_MODULE_PATH "${ASSIMP_DIR}/lib/cmake/assimp-4.0" )
+	LIST(APPEND CMAKE_PREFIX_PATH "${ASSIMP_DIR}/lib/cmake/assimp-4.0" )
 	FIND_PACKAGE(assimp REQUIRED)
 	IF(WIN32)
 		IF(MSVC)
@@ -455,14 +455,20 @@ SET(OPENMVG_EXCLUDE_PATENTED ON)
 #INCLUDE_DIRECTORIES(${OpenMVG_INCLUDE_DIRS})
 
 FIND_PACKAGE(OpenMVG REQUIRED)
+message("OPENMVG_LIBRARIES: ${OPENMVG_LIBRARIES}")
+message("OPENMVG_INCLUDE_DIRS: ${OPENMVG_INCLUDE_DIRS}")
+foreach(CURDIR ${OPENMVG_INCLUDE_DIRS})
+	IF(IS_DIRECTORY "${CURDIR}/third_party")
+		LIST(APPEND OPENMVG_INCLUDE_DIRS "${CURDIR}/third_party")
+	ENDIF()
+endforeach()
+message("OPENMVG_INCLUDE_DIRS: ${OPENMVG_INCLUDE_DIRS}")
 INCLUDE_DIRECTORIES(${OPENMVG_INCLUDE_DIRS})
 
 IF(DEFINED OPENMVG_VERSION)
 	SET(R3D_HAVE_OPENMVG_VERSION TRUE)
 ENDIF(DEFINED OPENMVG_VERSION)
 
-message("OPENMVG_LIBRARIES: ${OPENMVG_LIBRARIES}")
-
 # VLFEAT (optional)
 SET( CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake" )
 FIND_PACKAGE(VLFEAT)
@@ -587,6 +593,10 @@ INCLUDE_DIRECTORIES(thirdparty/daisy/include)
 ADD_SUBDIRECTORY(thirdparty/akaze)
 INCLUDE_DIRECTORIES(thirdparty/akaze/lib)
 
+# Fast-AKAZE
+ADD_SUBDIRECTORY(thirdparty/fast-akaze)
+INCLUDE_DIRECTORIES(thirdparty/fast-akaze)
+
 # LIOP
 ADD_SUBDIRECTORY(thirdparty/liop)
 INCLUDE_DIRECTORIES(thirdparty/liop)
@@ -637,7 +647,7 @@ IF(WIN32)
 ENDIF(WIN32)
 
 # For Apple set the icns file containing icons
-if(APPLE)
+IF(APPLE)
 	# icon files to copy in the bundle
 	SET( OSX_ICON_FILES ${CMAKE_CURRENT_SOURCE_DIR}/res/osx/regard3d.icns )
 	# set where in the bundle to put the icns files
@@ -668,7 +678,7 @@ IF(TARGET openMVG_SfM_Sequential)
 ENDIF(TARGET openMVG_SfM_Sequential)
 
 SET(REGARD3D_LINK_LIBRARIES ${REGARD3D_LINK_LIBRARIES} ${OPENSCENEGRAPH_LIBRARIES}
-	${Boost_LIBRARIES} ${PCL_LIBRARIES} daisy AKAZE liop ${OpenCV_LIBRARIES} ${OPENMVG_LIBRARIES}
+	${Boost_LIBRARIES} ${PCL_LIBRARIES} daisy AKAZE fast-akaze liop ${OpenCV_LIBRARIES} ${OPENMVG_LIBRARIES}
 	${CERES_LIBRARIES} ${GLOG_LIBRARIES} ${SuiteSparse_LIBRARIES} ${FLANN_LIBRARIES}
 	easyexif ${LAPACK_LIBRARIES} ${BLAS_LIBRARIES} ${ASSIMP_LIBRARIES} ${OPENGL_LIBRARIES}
 	optimized;minilog;debug;minilog_d tinyply)
@@ -700,6 +710,15 @@ IF(DEFINED R3D_ADDITIONAL_LINK_LIBRARIES)
 	SET(REGARD3D_LINK_LIBRARIES ${REGARD3D_LINK_LIBRARIES} ${R3D_ADDITIONAL_LINK_LIBRARIES})
 ENDIF(DEFINED R3D_ADDITIONAL_LINK_LIBRARIES)
 
+IF(APPLE)
+	# Add frameworks CoreText QuickLook ApplicationServices CoreServices
+	FIND_LIBRARY(CORE_TEXT_LIBRARY CoreText )
+	FIND_LIBRARY(QUICK_LOOK_LIBRARY QuickLook )
+	FIND_LIBRARY(APP_SERVICES_LIBRARY ApplicationServices )
+	FIND_LIBRARY(CORE_SERVICES_LIBRARY CoreServices )
+	SET(REGARD3D_LINK_LIBRARIES ${REGARD3D_LINK_LIBRARIES} ${CORE_TEXT_LIBRARY} ${QUICK_LOOK_LIBRARY} ${APP_SERVICES_LIBRARY} ${CORE_SERVICES_LIBRARY})
+ENDIF(APPLE)
+
 # Workaround for MSYS: Replace /c/path with c:/path
 # MinGW doesn't like the /c/path syntax in linklibs.rsp
 IF(MSYS)
@@ -738,13 +757,13 @@ IF(APPLE)
 			FILE(COPY "${CMAKE_BINARY_DIR}/../thirdparty_omp/poisson" DESTINATION "${CMAKE_BINARY_DIR}/Regard3D.app/Contents/MacOS")
 			FILE(COPY "${CMAKE_BINARY_DIR}/../thirdparty_omp/mve" DESTINATION "${CMAKE_BINARY_DIR}/Regard3D.app/Contents/MacOS")
 
-			# Copy libiomp5.dylib to executable directory
-			FIND_FILE(omp_dylib libiomp5.dylib PATHS ENV DYLD_LIBRARY_PATH)
+			# Copy libomp.dylib to executable directory
+			FIND_FILE(omp_dylib libomp.dylib PATHS ENV DYLD_LIBRARY_PATH "/Users/romanhiestand/dev/clang_openmp/clang+llvm-3.9.0-x86_64-apple-darwin/lib")
 			FILE(COPY ${omp_dylib} DESTINATION "${CMAKE_BINARY_DIR}/Regard3D.app/Contents/MacOS")
 
-			# Set search path of libiomp5.dylib to the executable path on OS X
+			# Set search path of libomp.dylib to the executable path on OS X
 			ADD_CUSTOM_COMMAND(TARGET Regard3D POST_BUILD
-				COMMAND install_name_tool -change libiomp5.dylib @executable_path/libiomp5.dylib "${CMAKE_BINARY_DIR}/Regard3D.app/Contents/MacOS/Regard3D" )
+				COMMAND install_name_tool -change libomp.dylib @executable_path/libomp.dylib "${CMAKE_BINARY_DIR}/Regard3D.app/Contents/MacOS/Regard3D" )
 		ENDIF(CMAKE_COMPILER_IS_GNUCC)
 
 	ELSE(OPENMP_FOUND)

src/CommonIncludes.h

@@ -9,7 +9,9 @@
 
 #include "config.h"
 
+#ifndef _USE_MATH_DEFINES
 #define _USE_MATH_DEFINES
+#endif
 #include <math.h>
 #include <stdio.h>
 #include <stdlib.h>

src/R3DComputeMatches.cpp

@@ -63,14 +63,17 @@ void R3DComputeMatches::addImages(const ImageInfoVector &iiv)
 // License, v. 2.0. If a copy of the MPL was not distributed with this
 // file, You can obtain one at http://mozilla.org/MPL/2.0/.
 
-#include "openMVG/image/image.hpp"
-#include "openMVG/features/features.hpp"
+#include "openMVG/image/image_container.hpp"
+#include "openMVG/image/pixel_types.hpp"
+#include "openMVG/image/image_io.hpp"
+#include "openMVG/features/feature.hpp"
 
 /// Generic Image Collection image matching
 #if defined(R3D_USE_OPENMVG_PRE08)
 #	include "openMVG/matching_image_collection/Matcher_AllInMemory.hpp"
 #else
-#	include "openMVG/matching_image_collection/Matcher_Regions_AllInMemory.hpp"
+//#	include "openMVG/matching_image_collection/Matcher_Regions_AllInMemory.hpp"
+#include "openMVG/matching_image_collection/Matcher_Regions.hpp"
 #include "openMVG/sfm/sfm_data.hpp"
 #include "openMVG/sfm/sfm_data_io.hpp"
 #include "openMVG/sfm/pipelines/sfm_engine.hpp"
@@ -683,7 +686,7 @@ bool R3DComputeMatches::computeMatches(Regard3DFeatures::R3DFParams &params, boo
   //---------------------------------------
   openMVG::sfm::SfM_Data sfm_data;
   if(!Load(sfm_data, sSfM_Data_Filename, openMVG::sfm::ESfM_Data(openMVG::sfm::VIEWS | openMVG::sfm::INTRINSICS))) {
-	  std::cerr << std::endl
+	  MLOG << std::endl
 		  << "The input SfM_Data file \"" << sSfM_Data_Filename << "\" cannot be read." << std::endl;
 	  return false;	// EXIT_FAILURE;
   }
@@ -940,7 +943,7 @@ bool R3DComputeMatches::computeMatches(Regard3DFeatures::R3DFParams &params, boo
     computePutativeDescriptorMatches<Regard3DFeatures::DescriptorR3D, Regard3DFeatures::KeypointSetR3D, MatcherR3D>
       (vec_fileNames, sOutDir, map_PutativesMatches, fDistRatio);
 #else
-    std::unique_ptr<Matcher_Regions_AllInMemory> collectionMatcher(new Matcher_Regions_AllInMemory(fDistRatio, ANN_L2));
+    std::unique_ptr<Matcher_Regions> collectionMatcher(new Matcher_Regions(fDistRatio, ANN_L2));
 	if(regions_provider->load(sfm_data, sMatchesDirectory, regions_type))
     //if(collectionMatcher->loadData(regions_type, vec_fileNames, sMatchesDirectory))
     {
@@ -981,7 +984,7 @@ bool R3DComputeMatches::computeMatches(Regard3DFeatures::R3DFParams &params, boo
   // Load the features
   std::shared_ptr<openMVG::sfm::Features_Provider> feats_provider = std::make_shared<openMVG::sfm::Features_Provider>();
   if(!feats_provider->load(sfm_data, sMatchesDirectory, regions_type)) {
-    std::cerr << std::endl << "Invalid features." << std::endl;
+    MLOG << std::endl << "Invalid features." << std::endl;
 	return false;	// EXIT_FAILURE;
   }
   ImageCollectionGeometricFilter collectionGeomFilter(&sfm_data, regions_provider);

src/R3DModelOperations.cpp

@@ -41,6 +41,13 @@
 #include <pcl/io/vtk_lib_io.h>
 #endif
 
+#include <assimp/postprocess.h>
+#include <assimp/version.h>
+#include <assimp/scene.h>
+#include <assimp/Importer.hpp>
+#include <assimp/DefaultLogger.hpp>
+#include <assimp/Exporter.hpp>
+
 void R3DModelOperations::combineDenseModels(R3DProject::Densification *pDensification, int numModels)
 {
 	wxString combinedModelName(wxT("pmvs_combined.ply"));
@@ -240,6 +247,9 @@ bool R3DModelOperations::exportSurface(R3DProject::Surface *pSurface, const wxSt
 
 	bool retVal = true;
 
+	Assimp::Importer imp;
+	Assimp::Exporter exp;
+
 	// Determine original surface file type
 	wxFileName exportFN(filename);
 	if(surfaceModelFN.GetExt().IsSameAs(wxT("ply"), false))
@@ -257,13 +267,20 @@ bool R3DModelOperations::exportSurface(R3DProject::Surface *pSurface, const wxSt
 #endif
 					retVal = false;
 
-				std::string tmpfn("tmp/temp_surface.obj");
-				retVal &= (pcl::io::saveOBJFile(tmpfn, mesh, 7) == 0);
-				retVal &= wxCopyFile(wxString(tmpfn.c_str(), wxConvLibc), filename, true);
+//				const aiScene* pScene = imp.ReadFile(surfaceModelFNStr.c_str(), aiProcess_JoinIdenticalVertices);
+//				if(pScene == NULL)
+//					retVal = false;
+//				else
+				{
+					std::string tmpfn("tmp/temp_surface.obj");
+					retVal &= (pcl::io::saveOBJFile(tmpfn, mesh, 7) == 0);
+					//const aiReturn res = exp.Export(pScene, "obj", tmpfn.c_str());
+					retVal &= wxCopyFile(wxString(tmpfn.c_str(), wxConvLibc), filename, true);
+				}
 			}
 			else
 			{
-				// PointCloudLibrary does not support textures in PLY files
+				// PointCloudLibrary/AssImp does not support textures in PLY files
 				retVal = false;
 			}
 		}
@@ -279,16 +296,23 @@ bool R3DModelOperations::exportSurface(R3DProject::Surface *pSurface, const wxSt
 		{
 			if(pSurface->colorizationType_ == R3DProject::CTColoredVertices)
 			{
-				pcl::PolygonMesh mesh;
+/*				pcl::PolygonMesh mesh;
 #if PCL_VERSION_COMPARE(<, 1, 7, 2)
 				if(pcl::io::loadPolygonFileOBJ(surfaceModelFNStr, mesh) == -1)
 #else
 				if(pcl::io::loadOBJFile(surfaceModelFNStr, mesh) == -1)
 #endif
-					retVal = false;
+					retVal = false;*/
 
-				std::string fn(filename.mb_str());
-				retVal = (pcl::io::savePLYFile(fn, mesh) == 0);
+				const aiScene* pScene = imp.ReadFile(surfaceModelFNStr.c_str(), aiProcess_JoinIdenticalVertices);
+				if(pScene == NULL)
+					retVal = false;
+				else
+				{
+					std::string fn(filename.mb_str());
+					//retVal = (pcl::io::savePLYFile(fn, mesh) == 0);
+					const aiReturn res = exp.Export(pScene, "ply", fn.c_str());
+				}
 			}
 			else
 			{
@@ -299,27 +323,83 @@ bool R3DModelOperations::exportSurface(R3DProject::Surface *pSurface, const wxSt
 		else
 		{
 			// Load and save OBJ
-			pcl::TextureMesh mesh;
+/*			pcl::TextureMesh mesh;
 #if PCL_VERSION_COMPARE(<, 1, 7, 2)
 			if(pcl::io::loadPolygonFileOBJ(surfaceModelFNStr, mesh) == -1)
 #else
 			if(pcl::io::loadOBJFile(surfaceModelFNStr, mesh) == -1)
 #endif
+				retVal = false;*/
+			const aiScene* pScene = imp.ReadFile(surfaceModelFNStr.c_str(), aiProcess_JoinIdenticalVertices);
+			if(pScene == NULL)
 				retVal = false;
+			else
+			{
+				std::string exportNameC(exportFN.GetName().ToAscii());		// Converted to ASCII
+				wxString exportNameASCII(wxString::FromAscii(exportNameC.c_str()));
+
+				wxFileName tempFN(wxT("tmp"), exportNameASCII, wxT("obj"));
+				std::string tmpfn(std::string( tempFN.GetFullPath(wxPATH_UNIX).ToAscii() ));
+				const aiReturn res = exp.Export(pScene, "obj", tmpfn.c_str());
+				retVal &= wxCopyFile(tempFN.GetFullPath(), filename, true);
+
+				// Problem: We would like to eventually have 3 files:
+				// - Model file with name filename
+				// - Material file with same or similar name, but .mtl extension
+				// - Texture file with same or similar name (PNG format)
+				// This is a problem on Windows, since the pcl::io methods/AssImp only accept
+				// C-Strings (instead of Unicode) and the name of the material file is stored
+				// in the OBJ file.
+				// It is also unclear how the textual representation of the material file name
+				// and the texture file name is interpreted, since the OBJ and the material files
+				// are text files.
+				// Workaround: map name to ASCII as good as possble, use it to store
+				// OBJ file and material file. Rename OBJ file to user requested filename.
+				wxFileName materialInFN(tempFN), materialOutFN(filename);
+				materialInFN.SetExt(wxT("mtl"));
+				materialOutFN.SetName( exportNameASCII );
+				materialOutFN.SetExt(wxT("mtl"));
+				retVal &= wxCopyFile(materialInFN.GetFullPath(), materialOutFN.GetFullPath(), true);
+
+				bool hasTexture = false;
+				for(int i = 0; i < static_cast<int>(pScene->mNumMeshes); i++)
+				{
+					aiMesh *pMesh = pScene->mMeshes[i];
+					if(pMesh != NULL)
+					{
+						if(pMesh->GetNumUVChannels() > 0
+							&& pMesh->HasTextureCoords(0))
+							hasTexture = true;
+
+						if(hasTexture)
+						{
+							unsigned int usedMaterial = pMesh->mMaterialIndex;
+							if(usedMaterial < pScene->mNumMaterials)
+							{
+								const aiMaterial *pMaterial = pScene->mMaterials[usedMaterial];
+								unsigned int textureCount = pMaterial->GetTextureCount(aiTextureType_DIFFUSE);
+								for(unsigned int j = 0; j < textureCount; j++)
+								{
+									aiString path;
+									aiTextureMapping mapping;
+									unsigned int uvindex;
+									float blend;
+									aiTextureOp op;
+									aiTextureMapMode mapmode[3];
+									pMaterial->GetTexture(aiTextureType_DIFFUSE, j, &path, &mapping, &uvindex, &blend, &op, mapmode);
+
+									wxFileName textureFromFN(surfaceModelFN), textureToFN(filename);
+									textureFromFN.SetFullName( wxString( path.C_Str(), wxConvUTF8 ) );
+									textureToFN.SetFullName( wxString( path.C_Str(), wxConvUTF8 ) );
+									retVal &= wxCopyFile(textureFromFN.GetFullPath(), textureToFN.GetFullPath(), true);
+								}
+							}
+						}
+					}
+				}
+			}
 
-			// Problem: We would like to eventually have 3 files:
-			// - Model file with name filename
-			// - Material file with same or similar name, but .mtl extension
-			// - Texture file with same or similar name (PNG format)
-			// This is a problem on Windows, since the pcl::io methods only accept
-			// C-Strings (instead  of Unicode) and the name of the material file is stored
-			// in the OBJ file.
-			// It is also unclear how the textual representation of the material file name
-			// and the texture file name is interpreted, since the OBJ and the material files
-			// are text files.
-			// Workaround: map name to ASCII as good as possble, use it to store
-			// OBJ file and material file. Rename OBJ file to user requested filename.
-			std::string exportNameC(exportFN.GetName().ToAscii());		// Converted to ASCII
+/*			std::string exportNameC(exportFN.GetName().ToAscii());		// Converted to ASCII
 			wxString exportNameASCII(wxString::FromAscii(exportNameC.c_str()));
 
 			// Copy texture files
@@ -348,7 +428,7 @@ bool R3DModelOperations::exportSurface(R3DProject::Surface *pSurface, const wxSt
 			materialInFN.SetExt(wxT("mtl"));
 			materialOutFN.SetName( exportNameASCII );
 			materialOutFN.SetExt(wxT("mtl"));
-			retVal &= wxCopyFile(materialInFN.GetFullPath(), materialOutFN.GetFullPath(), true);
+			retVal &= wxCopyFile(materialInFN.GetFullPath(), materialOutFN.GetFullPath(), true);*/
 		}
 	}
 	else

src/R3DProject.cpp

@@ -1056,6 +1056,10 @@ bool R3DProject::writeImageListTXT(const R3DProjectPaths &paths)
 #if !defined(R3D_USE_OPENMVG_PRE08)
 #include "openMVG/sfm/sfm_data.hpp"
 #include "openMVG/sfm/sfm_data_io.hpp"
+#include "openMVG/cameras/Camera_Pinhole.hpp"
+#include "openMVG/cameras/Camera_Pinhole_Radial.hpp"
+#include "openMVG/cameras/Camera_Pinhole_Fisheye.hpp"
+#include "openMVG/cameras/Camera_IO.hpp"
 #endif
 
 bool R3DProject::writeSfmData(const R3DProjectPaths &paths)
@@ -1119,6 +1123,10 @@ bool R3DProject::writeSfmData(const R3DProjectPaths &paths)
 				intrinsic = std::make_shared<openMVG::cameras::Pinhole_Intrinsic_Radial_K3>
 					(width, height, focal, ppx, ppy, 0.0, 0.0, 0.0);  // setup no distortion as initial guess
 				break;
+			case openMVG::cameras::PINHOLE_CAMERA_FISHEYE:
+				intrinsic = std::make_shared<openMVG::cameras::Pinhole_Intrinsic_Fisheye>
+					(width, height, focal, ppx, ppy, 0.0, 0.0, 0.0);  // setup no distortion as initial guess
+				break;
 			default:
 				std::cout << "Unknown camera model: " << (int)e_User_camera_model << std::endl;
 			}