opencv · mihaibujanca · Aug 29, 2017 · Sep 1, 2017 · Sep 7, 2017 · Sep 7, 2017
diff --git a/modules/README.md b/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.

diff --git a/modules/dynamicfusion/CMakeLists.txt b/modules/dynamicfusion/CMakeLists.txt
@@ -0,0 +1,65 @@
+set(the_description "Non-rigid 3D reconstruction")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -DFORCE_INLINERS -D_MWAITXINTRIN_H_INCLUDED")
+
+#
+## ---[ Solution name
+#
+## ---[ utility
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/cmake/Modules/")
+include(cmake/Utils.cmake)
+#include(cmake/Targets.cmake)
+#
+## ---[ find dependencies
+find_package(CUDA REQUIRED)
+#find_package(OpenNI)
+find_package(Ceres REQUIRED)
+include_directories(${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)
+#
+#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)
+ocv_define_module(dynamicfusion opencv_core opencv_calib3d opencv_viz opencv_highgui)
+
+ocv_warnings_disable(CMAKE_CXX_FLAGS
+        -Wundef
+        -Wshadow
+        -Wsign-compare
+        -Wmissing-declarations
+        -Wunused-but-set-variable
+        -Wunused-parameter
+        -Wunused-function
+        )
diff --git a/modules/dynamicfusion/LICENSE.md b/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.
diff --git a/modules/dynamicfusion/README.md b/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"
+}
+```
diff --git a/modules/dynamicfusion/cmake/Modules/FindOpenNI.cmake b/modules/dynamicfusion/cmake/Modules/FindOpenNI.cmake
@@ -0,0 +1,78 @@
+###############################################################################
+# Find OpenNI
+#
+# This sets the following variables:
+# OPENNI_FOUND - True if OPENNI was found.
+# OPENNI_INCLUDE_DIRS - Directories containing the OPENNI include files.
+# OPENNI_LIBRARIES - Libraries needed to use OPENNI.
+# OPENNI_DEFINITIONS - Compiler flags for OPENNI.
+# 
+# For libusb-1.0, add USB_10_ROOT if not found
+
+find_package(PkgConfig QUIET)
+
+# Find LibUSB
+if(NOT WIN32)
+  pkg_check_modules(PC_USB_10 libusb-1.0)
+  find_path(USB_10_INCLUDE_DIR libusb-1.0/libusb.h
+            HINTS ${PC_USB_10_INCLUDEDIR} ${PC_USB_10_INCLUDE_DIRS} "${USB_10_ROOT}" "$ENV{USB_10_ROOT}"
+            PATH_SUFFIXES libusb-1.0)
+
+  find_library(USB_10_LIBRARY
+               NAMES usb-1.0 
+               HINTS ${PC_USB_10_LIBDIR} ${PC_USB_10_LIBRARY_DIRS} "${USB_10_ROOT}" "$ENV{USB_10_ROOT}"
+               PATH_SUFFIXES lib)
+
+  include(FindPackageHandleStandardArgs)
+  find_package_handle_standard_args(USB_10 DEFAULT_MSG USB_10_LIBRARY USB_10_INCLUDE_DIR)
+
+  if(NOT USB_10_FOUND)
+    message(STATUS "OpenNI disabled because libusb-1.0 not found.")     
+    return()
+  else()
+    include_directories(SYSTEM ${USB_10_INCLUDE_DIR})
+  endif()
+endif(NOT WIN32)
+
+if(${CMAKE_VERSION} VERSION_LESS 2.8.2)
+  pkg_check_modules(PC_OPENNI openni-dev)
+else()
+  pkg_check_modules(PC_OPENNI QUIET openni-dev)
+endif()
+
+set(OPENNI_DEFINITIONS ${PC_OPENNI_CFLAGS_OTHER})
+
+set(OPENNI_SUFFIX)
+if(WIN32 AND CMAKE_SIZEOF_VOID_P EQUAL 8)
+  set(OPENNI_SUFFIX 64)
+endif(WIN32 AND CMAKE_SIZEOF_VOID_P EQUAL 8)
+
+#add a hint so that it can find it without the pkg-config
+find_path(OPENNI_INCLUDE_DIR XnStatus.h
+          HINTS ${PC_OPENNI_INCLUDEDIR} ${PC_OPENNI_INCLUDE_DIRS} /usr/include/openni /usr/include/ni "${OPENNI_ROOT}" "$ENV{OPENNI_ROOT}"
+          PATHS "$ENV{OPEN_NI_INSTALL_PATH${OPENNI_SUFFIX}}/Include"
+          PATH_SUFFIXES openni include Include)
+#add a hint so that it can find it without the pkg-config
+find_library(OPENNI_LIBRARY 
+             NAMES OpenNI${OPENNI_SUFFIX}
+             HINTS ${PC_OPENNI_LIBDIR} ${PC_OPENNI_LIBRARY_DIRS} /usr/lib "${OPENNI_ROOT}" "$ENV{OPENNI_ROOT}"
+             PATHS "$ENV{OPEN_NI_LIB${OPENNI_SUFFIX}}"
+             PATH_SUFFIXES lib Lib Lib64)
+
+if(CMAKE_SYSTEM_NAME STREQUAL "Darwin")
+  set(OPENNI_LIBRARIES ${OPENNI_LIBRARY} ${LIBUSB_1_LIBRARIES})
+else()
+  set(OPENNI_LIBRARIES ${OPENNI_LIBRARY})
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(OpenNI DEFAULT_MSG OPENNI_LIBRARY OPENNI_INCLUDE_DIR)
+
+mark_as_advanced(OPENNI_LIBRARY OPENNI_INCLUDE_DIR)
+
+if(OPENNI_FOUND)  
+  # Add the include directories
+  set(OPENNI_INCLUDE_DIRS ${OPENNI_INCLUDE_DIR})  
+  message(STATUS "OpenNI found (include: ${OPENNI_INCLUDE_DIRS}, lib: ${OPENNI_LIBRARY})")
+endif(OPENNI_FOUND)
+