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GSoC 2017: dynamicfusion #1349

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0e38002
Updated modules README. Added code for dynamicfusion
mihaibujanca Aug 29, 2017
11bbe6e
Linking errors but got rid of compilation errors. Still have warnings…
mihaibujanca Sep 1, 2017
7c12c24
Integrate with cv namespace, change directory structure
mihaibujanca Sep 7, 2017
cd918ef
Merge pull request #1 from mihaibujanca/dynamicfusion
mihaibujanca Sep 7, 2017
26cbdcd
More directory restructuring, getting CUDA through opencv rather than…
mihaibujanca Sep 9, 2017
1974106
Merge pull request #2 from mihaibujanca/dynamicfusion
mihaibujanca Sep 9, 2017
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133 changes: 58 additions & 75 deletions modules/dynamicfusion/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,82 +1,65 @@
cmake_minimum_required(VERSION 3.5.0)

# ---[ Configurations types
set(CMAKE_CONFIGURATION_TYPES "Debug;Release" CACHE STRING "Possible configurations" FORCE)
set(the_description "Non-rigid 3D reconstruction")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -DFORCE_INLINERS -D_MWAITXINTRIN_H_INCLUDED")
if (DEFINED CMAKE_BUILD_TYPE)
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${CMAKE_CONFIGURATION_TYPES})
endif()
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile)
find_package(Doxygen)
if(DOXYGEN_FOUND)

set(DOXYGEN_INPUT ${SOURCE_FILES})
set(DOXYGEN_OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)

add_custom_command(
OUTPUT ${DOXYGEN_OUTPUT}
COMMAND ${CMAKE_COMMAND} -E echo_append "Building API Documentation..."
COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_INPUT}
COMMAND ${CMAKE_COMMAND} -E echo "Done."
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DEPENDS ${DOXYGEN_INPUT}
)

add_custom_target(apidoc ALL DEPENDS ${DOXYGEN_OUTPUT})

add_custom_target(apidoc_forced
COMMAND ${CMAKE_COMMAND} -E echo_append "Building API Documentation..."
COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_INPUT}
COMMAND ${CMAKE_COMMAND} -E echo "Done."
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
)

endif(DOXYGEN_FOUND)
endif()

# ---[ Solution name
project(kfusion C CXX)

# ---[ utility
#
## ---[ Solution name
#
## ---[ utility
list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake/Modules/")
include(cmake/Utils.cmake)
include(cmake/Targets.cmake)

# ---[ find dependencies
find_package(OpenCV REQUIRED COMPONENTS core viz highgui calib3d)
#include(cmake/Targets.cmake)
#
## ---[ find dependencies
find_package(CUDA REQUIRED)
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You should not use REQUIRED option, instead just check whether the dependency has been found and disable your module if it can not be built without it:

find_package(Ceres QUIET)
if (NOT Ceres_FOUND)
    message(STATUS "${module} has been disabled because Ceres library has not been found")
    ocv_module_disable(${module})
endif()

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Try to use existing HAVE_CUDA variable, check the documentation at the beginning of https://github.com/opencv/opencv/blob/master/cmake/FindCUDA.cmake

find_package(OpenNI)
#find_package(OpenNI)
find_package(Ceres REQUIRED)
include_directories(${OpenCV_INCLUDE_DIRS} ${CERES_INCLUDE_DIRS} ${Boost_INCLUDE_DIR} ${CUDA_INCLUDE_DIRS} ${OPENNI_INCLUDE_DIR} "kfusion/src/utils" "kfusion/include/nanoflann")
if(OPENNI_FOUND)
message("FOUND OPENNI AT: ${OPENNI_INCLUDE_DIR}")
endif()
# ---[ misc settings
if(USE_PROJECT_FOLDERS)
set_property(GLOBAL PROPERTY USE_FOLDERS ON)
set_property(GLOBAL PROPERTY PREDEFINED_TARGETS_FOLDER "CMakeTargets")
endif()

# ---[ cuda settings
set(HAVE_CUDA 1)
list(APPEND CUDA_NVCC_FLAGS "-gencode;arch=compute_20,code=sm_20;-gencode;arch=compute_20,code=sm_21;-gencode;arch=compute_30,code=sm_30;-gencode;arch=compute_35,code=sm_35;-gencode;arch=compute_50,code=sm_50;-gencode;arch=compute_61,code=sm_61")

if(UNIX OR APPLE)
list(APPEND CUDA_NVCC_FLAGS "-Xcompiler;-fPIC;")
endif()

warnings_disable(CMAKE_CXX_FLAGS /wd4985)

add_subdirectory(kfusion)
add_subdirectory(apps)
include_directories(${CERES_INCLUDE_DIRS} ${Boost_INCLUDE_DIR} ${CUDA_INCLUDE_DIRS} ${OPENNI_INCLUDE_DIR} "kfusion/src/utils" "kfusion/include/nanoflann")
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Is it possible to use existing flann module instead of nanoflann?

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I'll look into porting from nanoflann to flann at some point later

#if(OPENNI_FOUND)
# message("FOUND OPENNI AT: ${OPENNI_INCLUDE_DIR}")
#endif()
## ---[ misc settings
#if(USE_PROJECT_FOLDERS)
# set_property(GLOBAL PROPERTY USE_FOLDERS ON)
# set_property(GLOBAL PROPERTY PREDEFINED_TARGETS_FOLDER "CMakeTargets")
#endif()
#
## ---[ cuda settings
#set(HAVE_CUDA 1)
#list(APPEND CUDA_NVCC_FLAGS "-gencode;arch=compute_20,code=sm_20;-gencode;arch=compute_20,code=sm_21;-gencode;arch=compute_30,code=sm_30;-gencode;arch=compute_35,code=sm_35;-gencode;arch=compute_50,code=sm_50;-gencode;arch=compute_61,code=sm_61")
#
#if(UNIX OR APPLE)
# list(APPEND CUDA_NVCC_FLAGS "-Xcompiler;-fPIC;")
#endif()
#
#warnings_disable(CMAKE_CXX_FLAGS /wd4985)
#
#set(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS} "--ftz=true;--prec-div=false;--prec-sqrt=false")
#add_module_library(kfusion)
#if(OPENNI_FOUND)
# target_compile_definitions(kfusion PRIVATE OPENNI_FOUND=1)
#endif()
#target_link_libraries(kfusion ${CUDA_LIBRARIES} ${CUDA_CUDA_LIBRARY} ${OPENNI_LIBRARY} ${CERES_LIBRARIES})
#add_subdirectory(apps)
#
#if(BUILD_TESTS)
# find_package(GTest REQUIRED)
# if( GTEST_FOUND )
# message( "Found Gtest at ${GTEST_ROOT}")
# message( "GTest Libs: ${GTEST_BOTH_LIBRARIES}")
# message( "GTest Include: ${GTEST_INCLUDE_DIRS}")
# include_directories(${GTEST_INCLUDE_DIRS})
# add_subdirectory(tests)
# endif()
#endif()
find_package(Boost REQUIRED COMPONENTS system filesystem program_options)
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Looks like the Boost is not needed anymore.

ocv_define_module(dynamicfusion opencv_core opencv_calib3d opencv_viz opencv_highgui)
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I don't see any #include "opencv2/calib3d.hpp" in your code, it means that you don't need the dependency on opencv_calib3d module. Same for opencv_highgui.

Note that all samples will receive dependency on imgcodecs, videoio and highgui automatically, so you don't need to add them to your module.


if(BUILD_TESTS)
find_package(GTest REQUIRED)
if( GTEST_FOUND )
message( "Found Gtest at ${GTEST_ROOT}")
message( "GTest Libs: ${GTEST_BOTH_LIBRARIES}")
message( "GTest Include: ${GTEST_INCLUDE_DIRS}")
include_directories(${GTEST_INCLUDE_DIRS})
add_subdirectory(tests)
endif()
endif()
ocv_warnings_disable(CMAKE_CXX_FLAGS
-Wundef
-Wshadow
-Wsign-compare
-Wmissing-declarations
-Wunused-but-set-variable
-Wunused-parameter
-Wunused-function
)
25 changes: 0 additions & 25 deletions modules/dynamicfusion/apps/CMakeLists.txt
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158 changes: 0 additions & 158 deletions modules/dynamicfusion/apps/dynamicfusion_kinect.cpp
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23 changes: 23 additions & 0 deletions modules/dynamicfusion/doc/dynamicfusion.bib
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@@ -0,0 +1,23 @@
@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}
}

@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"
}
0 ...n/kfusion/include/nanoflann/nanoflann.hpp → ...micfusion/include/nanoflann/nanoflann.hpp
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5 changes: 5 additions & 0 deletions modules/dynamicfusion/include/opencv2/dynamicfusion.hpp
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@@ -0,0 +1,5 @@
#ifndef OPENCV_DYNAMICFUSION_HPP
#define OPENCV_DYNAMICFUSION_HPP
#include <opencv2/kfusion/kinfu.hpp>
#include <opencv2/kfusion/cuda/tsdf_volume.hpp>
#endif //OPENCV_DYNAMICFUSION_HPP
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