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

README.md

@@ -18,32 +18,38 @@ The Regard3D source code is released under the [MIT license](http://opensource.o
 Version history
 ---------------
 
-###Version 0.9.2, 19.08.2017:
+### Version 0.9.3, 15.09.2017:
+- Added user-defined camera sensor width database, added ability to set focus length
+- Added possibility to set camera model (Pinhole with various distortions, among them Fisheye)
+- Removed PCL (point cloud library) as a dependency
+- Fixed issue #9, JPEGs with EXIF data about camera orientation
+
+### 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:
+### Version 0.9.1, 01.02.2017:
 - Upgraded to OpenMVG 1.1
 - Third-party programs (MVE, PoissonRecon) up to date
 
-###Version 0.9.0, 15.10.2015:
+### Version 0.9.0, 15.10.2015:
 - Upgraded to OpenMVG 0.9.0
 - Third-party programs (MVE, PoissonRecon) up to date
 - Mac: OpenMP-enabled build
 
-###Version 0.8.0, 30.06.2015:
+### Version 0.8.0, 30.06.2015:
 - Upgraded to OpenMVG 0.8.1
 - Changed multithreading in compute matches step
 
-###Version 0.7.1, 12.05.2015:
+### Version 0.7.1, 12.05.2015:
 - Fixed bug when using CMVS
 - Improved speed of Windows version
 - Added multithreading in computing matches on Mac OS X (using TBB)
 - Surfaces with textures (OBJ file format) are now loaded with AssImp
 - "Export to CMPMVS" renamed to "Export to external MVS", MeshRecon format added
 
-###Version 0.7.0, 28.04.2015
+### Version 0.7.0, 28.04.2015
 Initial version, based on OpenMVG 0.7
 
 

src/CMakeLists.txt

@@ -119,12 +119,6 @@ IF(R3D_CMAKE_DEBUG_OUTPUT)
 ENDIF(R3D_CMAKE_DEBUG_OUTPUT)
 INCLUDE_DIRECTORIES(${wxWidgets_INCLUDE_DIRS})
 
-# PointCloudLibrary
-LIST(APPEND CMAKE_MODULE_PATH "${PCL_DIR}/cmake")
-FIND_PACKAGE(PCL REQUIRED)
-INCLUDE_DIRECTORIES(${PCL_INCLUDE_DIRS})
-LINK_DIRECTORIES(${PCL_LIBRARY_DIRS})
-
 # FLANN (using FindFLANN.cmake from PCL)
 LIST(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake")
 SET(FLANN_USE_STATIC TRUE)
@@ -150,15 +144,13 @@ LIST(APPEND CMAKE_MODULE_PATH "${EIGEN3_INCLUDE_DIR}/cmake" )
 FIND_PACKAGE(Eigen3 3.0.0 REQUIRED)
 MESSAGE("Found Eigen ${EIGEN3_VERSION}")
 INCLUDE_DIRECTORIES( ${EIGEN3_INCLUDE_DIR} )
-
-FIND_PACKAGE(MKL)
-IF(MKL_FOUND)
-	INCLUDE_DIRECTORIES(${MKL_INCLUDE_DIRS})
-	LINK_DIRECTORIES(${MKL_LIBRARY_DIRS})
-	ADD_DEFINITIONS(-DEIGEN_USE_MKL_ALL)
-ENDIF(MKL_FOUND)
-
-# Remark: Call find_package(PCL) first, as PCL also uses boost and overwrites boost variables like Boost_LIBRARIES
+
+#FIND_PACKAGE(MKL)
+#IF(MKL_FOUND)
+#	INCLUDE_DIRECTORIES(${MKL_INCLUDE_DIRS})
+#	LINK_DIRECTORIES(${MKL_LIBRARY_DIRS})
+#	ADD_DEFINITIONS(-DEIGEN_USE_MKL_ALL)
+#ENDIF(MKL_FOUND)
 
 # boost
 SET(Boost_USE_STATIC_LIBS        ON)
@@ -257,6 +249,10 @@ IF(R3D_USE_BLAS)
 				IMPORTED_LOCATION "${BLAS_LIBRARIES}")
 		ENDIF(MINGW)
 		INCLUDE_DIRECTORIES(${BLAS_INCLUDE_DIR})
+		ADD_DEFINITIONS(-DEIGEN_USE_LAPACKE)
+		IF(MSVC)
+			ADD_DEFINITIONS(-Dlapack_complex_float=std::complex<float> -Dlapack_complex_double=std::complex<double>)
+		ENDIF(MSVC)
 	ELSE (BLAS_FOUND)
 		MESSAGE("-- Did not find BLAS library.")
 	ENDIF (BLAS_FOUND)
@@ -465,6 +461,8 @@ endforeach()
 message("OPENMVG_INCLUDE_DIRS: ${OPENMVG_INCLUDE_DIRS}")
 INCLUDE_DIRECTORIES(${OPENMVG_INCLUDE_DIRS})
 
+SET_TARGET_PROPERTIES(${OPENMVG_LIBRARIES} PROPERTIES MAP_IMPORTED_CONFIG_RELWITHDEBINFO RELEASE)
+
 IF(DEFINED OPENMVG_VERSION)
 	SET(R3D_HAVE_OPENMVG_VERSION TRUE)
 ENDIF(DEFINED OPENMVG_VERSION)
@@ -605,6 +603,14 @@ INCLUDE_DIRECTORIES(thirdparty/liop)
 ADD_SUBDIRECTORY(thirdparty/tinyply)
 INCLUDE_DIRECTORIES(thirdparty/tinyply)
 
+# sqlite
+ADD_SUBDIRECTORY(thirdparty/sqlite)
+INCLUDE_DIRECTORIES(thirdparty/sqlite)
+
+# kgraph
+ADD_SUBDIRECTORY(thirdparty/kgraph)
+INCLUDE_DIRECTORIES(thirdparty/kgraph)
+
 ## Organize source files in folders
 
 INCLUDE_DIRECTORIES(${CMAKE_CURRENT_SOURCE_DIR})
@@ -678,7 +684,7 @@ 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 fast-akaze liop ${OpenCV_LIBRARIES} ${OPENMVG_LIBRARIES}
+	${Boost_LIBRARIES} daisy AKAZE fast-akaze liop kgraph sqlite ${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)

src/R3DComputeMatches.cpp

@@ -598,7 +598,8 @@ void R3DComputeMatches::setMainFrame(Regard3DMainFrame *pMainFrame)
 	pMainFrame_ = pMainFrame;
 }
 
-bool R3DComputeMatches::computeMatches(Regard3DFeatures::R3DFParams &params, bool svgOutput, const R3DProjectPaths &paths)
+bool R3DComputeMatches::computeMatches(Regard3DFeatures::R3DFParams &params,
+	bool svgOutput, const R3DProjectPaths &paths, int cameraModel)
 {
   R3DProject *pProject = R3DProject::getInstance();
   assert(pProject != NULL);
@@ -679,7 +680,7 @@ bool R3DComputeMatches::computeMatches(Regard3DFeatures::R3DFParams &params, boo
   }
 #else
   std::string sSfM_Data_Filename(paths.matchesSfmDataFilename_);
-  pProject->writeSfmData(paths);
+  pProject->writeSfmData(paths, cameraModel);
 
   //---------------------------------------
   // Read SfM Scene (image view & intrinsics data)

src/R3DComputeMatches.h

@@ -47,7 +47,8 @@ class R3DComputeMatches
 	void setMainFrame(Regard3DMainFrame *pMainFrame);
 	void addImages(const ImageInfoVector &iiv);
 
-	bool computeMatches(Regard3DFeatures::R3DFParams &params, bool svgOutput, const R3DProjectPaths &paths);
+	bool computeMatches(Regard3DFeatures::R3DFParams &params, bool svgOutput,
+		const R3DProjectPaths &paths, int cameraModel);
 	int computeMatchesOpenCV_NLOPT_step(double factor);
 	static double myfunc(unsigned n, const double *x, double *grad, void *my_func_data);
 	bool computeMatchesOpenCV_NLOPT();