GSoC 2017: dynamicfusion

modules/README.md

@@ -28,6 +28,8 @@ $ cmake -D OPENCV_EXTRA_MODULES_PATH=<opencv_contrib>/modules -D BUILD_opencv_<r
 
 - **dpm**: Deformable Part Model -- Felzenszwalb's Cascade with deformable parts object recognition code.
 
+- **dynamicfusion** 3D reconstruction with dynamic scenes -- RGB-D SLAM system that can reconstruct 3D models of scenes with non-rigit deformations.
+
 - **face**: Face Recognition -- Face recognition techniques: Eigen, Fisher and Local Binary Pattern Histograms LBPH methods.
 
 - **fuzzy**: Fuzzy Logic in Vision -- Fuzzy logic image transform and inverse; Fuzzy image processing.

modules/dynamicfusion/CMakeLists.txt

@@ -0,0 +1,34 @@
+set(the_description "Non-rigid 3D reconstruction")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -DFORCE_INLINERS -D_MWAITXINTRIN_H_INCLUDED")
+
+include(cmake/Utils.cmake)
+include(cmake/Targets.cmake)
+
+ocv_define_module(dynamicfusion opencv_core opencv_viz opencv_imgproc)
+
+ocv_warnings_disable(CMAKE_CXX_FLAGS
+        -Wundef
+        -Wshadow
+        -Wsign-compare
+        -Wmissing-declarations
+        -Wunused-but-set-variable
+        -Wunused-parameter
+        -Wunused-function
+        )
+
+find_package(Ceres QUIET)
+
+if (NOT Ceres_FOUND)
+    message(STATUS "${the_module} has been disabled because Ceres library has not been found")
+    ocv_module_disable(${the_module})
+else()
+    include_directories(${CERES_INCLUDE_DIRS})
+    ocv_target_link_libraries(${the_module} ${CERES_LIBRARIES})
+endif()
+if(NOT HAVE_CUDA)
+    message(STATUS "${the_module} currently requires CUDA to run")
+    ocv_module_disable(${the_module})
+else()
+    include_directories(${CUDA_INCLUDE_DIRS})
+    ocv_target_link_libraries(${the_module} ${CUDA_LIBRARIES} ${CUDA_CUDA_LIBRARY})
+endif()

modules/dynamicfusion/LICENSE.md

@@ -0,0 +1,27 @@
+Copyright (c) 2012, Anatoly Baksheev
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the {organization} nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

modules/dynamicfusion/README.md

@@ -0,0 +1,134 @@
+DynamicFusion
+============
+Implementation of [Newcombe et al. 2015 DynamicFusion paper](http://grail.cs.washington.edu/projects/dynamicfusion/papers/DynamicFusion.pdf).
+
+The code is based on this [KinectFusion implemenation](https://github.com/Nerei/kinfu_remake)
+
+Dependencies:
+* CUDA 5.0 or higher
+* OpenCV 2.4.8 or higher (modules opencv_core, opencv_highgui, opencv_calib3d, opencv_imgproc, opencv_viz). Make sure that WITH_VTK flag is enabled in CMake during OpenCV configuration.
+* Nanoflann (included in the repository)
+* Boost (libraries system, filesystem and program options. Only used in the demo. Tested with [1.64.0](http://www.boost.org/users/history/version_1_64_0.html))
+* Ceres solver (Tested with version [1.13.0](http://ceres-solver.org/ceres-solver-1.13.0.tar.gz))
+
+Implicit dependency (needed by opencv_viz):
+* VTK 5.8.0 or higher
+* SuiteSparse, BLAS and LAPACK for ceres
+Optional dependencies:
+* GTest for testing
+* Doxygen for documentation
+* OpenNI v1.5.4 for getting input straight from a kinect device.
+
+## Building instructions:
+
+### Linux
+Install NVIDIA drivers.A good tutorial with some common issues covered can be found [here](
+https://askubuntu.com/a/61433/167689).
+
+Download and install CUDA from the [NVIDIA website](https://developer.nvidia.com/cuda-downloads).
+
+Install VTK, SuiteSparse, BLAS and LAPACK
+```
+sudo apt-get install libvtk5-dev libsuitesparse-dev liblapack-dev libblas-dev
+```
+
+Clone Ceres Solver `git clone https://ceres-solver.googlesource.com/ceres-solver`, then build and install using `cmake` and `make`.
+
+Clone and install opencv. The project should work with any version above 2.4.8
+```
+git clone https://github.com/opencv/opencv
+cd opencv
+git checkout 3.2.0
+mkdir build
+cd build
+cmake .. -DWITH_VTK=ON -DBUILD_opencv_calib3d=ON BUILD_opencv_imgproc=ON
+make -j4
+sudo make install
+```
+Get [Boost 1.64.0](http://www.boost.org/users/download/) or above. Don't install it through apt-get as it sometimes results in linking errors on Ubuntu 16.04.
+
+Optionals:
+Doxygen can be installed through apt-get: `sudo apt-get install doxygen`.
+Clone and install [GTest](https://github.com/google/googletest)
+Clone and install [OpenNI](https://github.com/OpenNI/OpenNI)
+
+Now clone the repository and build:
+```
+git clone https://github.com/mihaibujanca/dynamicfusion
+mkdir build
+cd build
+cmake ..
+make -j4
+```
+
+If you want to build the tests as well, make sure you pass `-DBUILD_TESTS=ON` to the cmake command.
+
+To build documentation, go to the project root directory and execute
+```
+doxygen -g
+doxygen Doxyfile
+```
+### Windows
+* [Install NVIDIA drivers](https://www.geforce.com/drivers) and [CUDA](https://developer.nvidia.com/cuda-downloads)
+* [Install LAPACK](http://icl.cs.utk.edu/lapack-for-windows/lapack/).
+* [Install VTK](http://www.vtk.org/download/) (download and build from source)
+* [Install OpenCV](http://docs.opencv.org/3.2.0/d3/d52/tutorial_windows_install.html).  
+* [Install Boost](http://www.boost.org/users/download/)
+
+
+Optionals:
+* [Doxygen](http://www.stack.nl/~dimitri/doxygen/download.html)
+* [GTest](https://github.com/google/googletest) 
+* [OpenNI]( http://pointclouds.org/downloads/windows.html)
+
+
+
+## Run instructions
+### Unix
+Download an example dataset using `./download_data`. 
+To run the project, use `./build/bin/dynamicfusion <project_root>/data/umbrella`
+
+### Windows
+[Download the dataset](http://lgdv.cs.fau.de/uploads/publications/data/innmann2016deform/umbrella_data.zip).\
+Create a `data` folder inside the project root directory. \
+Unzip the archive into `data` and remove any files that are not .png. \
+Inside `data`, create directories `color` and `depth`, and move color and depth frames to their corresponding folders.
+
+
+
+To use with .oni captures or straight from a kinect device, use `./build/bin/dynamicfusion_kinect <path-to-oni>` or `./build/bin/dynamicfusion_kinect <device_id>` 
+
+---
+Note: currently, the frame rate is too low (5-6fps) to be able to cope with live inputs, so it is advisable that you capture your input first.
+
+## References
+[DynamicFusion project page](http://grail.cs.washington.edu/projects/dynamicfusion/)
+
+```
+@InProceedings{Newcombe_2015_CVPR,
+author = {Newcombe, Richard A. and Fox, Dieter and Seitz, Steven M.},
+title = {DynamicFusion: Reconstruction and Tracking of Non-Rigid Scenes in Real-Time},
+booktitle = {The IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
+month = {June},
+year = {2015}
+}
+```
+
+The example dataset is taken from the [VolumeDeform project](http://lgdv.cs.fau.de/publications/publication/Pub.2016.tech.IMMD.IMMD9.volume_6/).
+```
+@inbook{innmann2016volume,
+author = "Innmann, Matthias and Zollh{\"o}fer, Michael and Nie{\ss}ner, Matthias and Theobalt, Christian 
+         and Stamminger, Marc",
+editor = "Leibe, Bastian and Matas, Jiri and Sebe, Nicu and Welling, Max",
+title = "VolumeDeform: Real-Time Volumetric Non-rigid Reconstruction",
+bookTitle = "Computer Vision -- ECCV 2016: 14th European Conference, Amsterdam, The Netherlands,
+            October 11-14, 2016, Proceedings, Part VIII",
+year = "2016",
+publisher = "Springer International Publishing",
+address = "Cham",
+pages = "362--379",
+isbn = "978-3-319-46484-8",
+doi = "10.1007/978-3-319-46484-8_22",
+url = "http://dx.doi.org/10.1007/978-3-319-46484-8_22"
+}
+```

modules/dynamicfusion/cmake/Targets.cmake

@@ -0,0 +1,131 @@
+################################################################################################
+# short command to setup source group
+function(kf_source_group group)
+  cmake_parse_arguments(VW_SOURCE_GROUP "" "" "GLOB" ${ARGN})
+  file(GLOB srcs ${VW_SOURCE_GROUP_GLOB})
+  #list(LENGTH ${srcs} ___size)
+  #if (___size GREATER 0)
+    source_group(${group} FILES ${srcs})
+  #endif()
+endfunction()
+
+
+################################################################################################
+# short command getting sources from standard directores
+macro(pickup_std_sources)
+  kf_source_group("Include" GLOB "include/${module_name}/*.h*")
+  kf_source_group("Include\\cuda" GLOB "include/${module_name}/cuda/*.h*")
+  kf_source_group("Source" GLOB "src/*.cpp" "src/*.h*")
+  kf_source_group("Source\\utils" GLOB "src/utils/*.cpp" "src/utils/*.h*")
+  kf_source_group("Source\\cuda" GLOB "src/cuda/*.c*" "src/cuda/*.h*")
+  FILE(GLOB_RECURSE sources include/${module_name}/*.h* src/*.cpp src/*.h* src/cuda/*.h* src/cuda/*.c*)
+endmacro()
+
+
+################################################################################################
+# short command for declaring includes from other modules
+macro(declare_deps_includes)
+  foreach(__arg ${ARGN})
+    get_filename_component(___path "${CMAKE_SOURCE_DIR}/modules/${__arg}/include" ABSOLUTE)
+    if (EXISTS ${___path})
+      include_directories(${___path})
+    endif()
+  endforeach()
+
+  unset(___path)
+  unset(__arg)
+endmacro()
+
+
+################################################################################################
+# short command for setting defeault target properties
+function(default_properties target)
+  set_target_properties(${target} PROPERTIES
+    DEBUG_POSTFIX "d"
+    ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib"
+    RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
+
+    if (NOT ${target} MATCHES "^test_")
+      install(TARGETS ${the_target} RUNTIME DESTINATION ".")
+    endif()
+endfunction()
+
+function(test_props target)
+  #os_project_label(${target} "[test]")
+  if(USE_PROJECT_FOLDERS)
+    set_target_properties(${target} PROPERTIES FOLDER "Tests")
+  endif()
+endfunction()
+
+function(app_props target)
+  #os_project_label(${target} "[app]")
+  if(USE_PROJECT_FOLDERS)
+    set_target_properties(${target} PROPERTIES FOLDER "Apps")
+  endif()
+endfunction()
+
+
+################################################################################################
+# short command for setting defeault target properties
+function(default_properties target)
+  set_target_properties(${target} PROPERTIES
+    DEBUG_POSTFIX "d"
+    ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib"
+    RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
+
+    if (NOT ${target} MATCHES "^test_")
+      install(TARGETS ${the_target} RUNTIME DESTINATION ".")
+    endif()
+endfunction()
+
+
+################################################################################################
+# short command for adding library module
+macro(add_module_library name)
+  set(module_name ${name})
+  pickup_std_sources()
+  include_directories(include src src/cuda src/utils)
+
+  set(__has_cuda OFF)
+  check_cuda(__has_cuda)
+
+  set(__lib_type STATIC)
+  if (${ARGV1} MATCHES "SHARED|STATIC")
+    set(__lib_type ${ARGV1})
+  endif()
+
+  if (__has_cuda)
+    cuda_add_library(${module_name} ${__lib_type} ${sources})
+  else()
+    add_library(${module_name} ${__lib_type} ${sources})
+  endif()
+
+  if(MSVC)
+    set_target_properties(${module_name} PROPERTIES DEFINE_SYMBOL KFUSION_API_EXPORTS)
+  else()
+    add_definitions(-DKFUSION_API_EXPORTS)
+  endif()
+
+  default_properties(${module_name})
+
+  if(USE_PROJECT_FOLDERS)
+    set_target_properties(${module_name} PROPERTIES FOLDER "Libraries")
+  endif()
+
+  set_target_properties(${module_name} PROPERTIES INSTALL_NAME_DIR lib)
+
+  install(TARGETS ${module_name}
+    RUNTIME DESTINATION bin COMPONENT main
+    LIBRARY DESTINATION lib COMPONENT main
+    ARCHIVE DESTINATION lib COMPONENT main)
+
+  install(DIRECTORY include/ DESTINATION include/ FILES_MATCHING PATTERN "*.h*")
+endmacro()
+
+################################################################################################
+# short command for adding application module
+macro(add_application target sources)
+  add_executable(${target} ${sources})
+  default_properties(${target})
+  app_props(${target})
+endmacro()