add a simple gui & update the docker file (#42)

* Encapsulating feature processor * add point viewer * reformat * index on dev_gui: 2f4fefa reformat * remove useless code * remove useless code & add "Open Sparse Model" * Change file layout * update readme.txt * update name * use XRPRIMER * update docker file * update docker image * use old version cuda for CICD * update cmake
openxrlab · May 20, 2024 · 1cbed85 · 1cbed85
1 parent 3439677
commit 1cbed85
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diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -29,7 +29,7 @@ jobs:
       run:
         shell: bash -l {0}
     container:
-      image: openxrlab/xrsfm_runtime:ubuntu1804_x64_cu116
+      image: openxrlab/xrsfm_runtime:ubuntu20.04_cu11.6.1
       credentials:
         username: ${{secrets.DOCKERHUB_USERNAME}}
         password: ${{secrets.DOCKERHUB_PWD}}

diff --git a/3rdparty/SiftGPU/CuTexImage.cpp b/3rdparty/SiftGPU/CuTexImage.cpp
@@ -9,7 +9,7 @@
 //	Permission to use, copy, modify and distribute this software and its
 //	documentation for educational, research and non-profit purposes, without
 //	fee, and without a written agreement is hereby granted, provided that
-// the 	above copyright notice and the following paragraph appear in all copies.
+//  the above copyright notice and the following paragraph appear in all copies.
 //
 //	The University of North Carolina at Chapel Hill make no representations
 //	about the suitability of this software for any purpose. It is provided

diff --git a/3rdparty/apriltag/CMakeLists.txt b/3rdparty/apriltag/CMakeLists.txt
@@ -133,7 +133,6 @@ if(BUILD_PYTHON_WRAPPER)
 endif(BUILD_PYTHON_WRAPPER)
 
 if (NOT Python3_NOT_FOUND AND NOT Numpy_NOT_FOUND AND PYTHONLIBS_FOUND AND BUILD_PYTHON_WRAPPER)
-    # TODO deal with both python2/3
     execute_process(COMMAND python3 ${CMAKE_CURRENT_SOURCE_DIR}/python_build_flags.py OUTPUT_VARIABLE PY_OUT)
     set(PY_VARS CFLAGS LDFLAGS LINKER EXT_SUFFIX)
     cmake_parse_arguments(PY "" "${PY_VARS}" "" ${PY_OUT})
@@ -160,23 +159,3 @@ execute_process(COMMAND python3 -m site --user-site OUTPUT_VARIABLE PY_DEST)
 string(STRIP ${PY_DEST} PY_DEST)
 install(FILES ${PROJECT_BINARY_DIR}/apriltag${PY_EXT_SUFFIX} DESTINATION ${PY_DEST})
 endif (NOT Python3_NOT_FOUND AND NOT Numpy_NOT_FOUND AND PYTHONLIBS_FOUND AND BUILD_PYTHON_WRAPPER)
-
-
-# Examples
-# apriltag_demo
-# add_executable(apriltag_demo example/apriltag_demo.c)
-# target_link_libraries(apriltag_demo apriltag)
-
-# # opencv_demo
-# find_package(OpenCV 4.0)
-# if(OpenCV_FOUND)
-#     add_executable(opencv_demo example/opencv_demo.cc)
-#     target_link_libraries(opencv_demo apriltag ${OpenCV_LIBRARIES} stdc++fs)
-#     set_target_properties(opencv_demo PROPERTIES CXX_STANDARD 17)
-#     install(TARGETS opencv_demo RUNTIME DESTINATION bin)
-# else()
-#     message(WARNING "OpenCV not found: Not building demo")
-# endif(OpenCV_FOUND)
-
-# # install example programs
-# install(TARGETS apriltag_demo RUNTIME DESTINATION bin)
diff --git a/3rdparty/apriltag/apriltag.c b/3rdparty/apriltag/apriltag.c
@@ -902,7 +902,6 @@ static void refine_edges(apriltag_detector_t *td, image_u8_t *im_orig,
         double Cxy = Mxy / N - Ex * Ey;
         double Cyy = Myy / N - Ey * Ey;
 
-        // TODO: Can replace this with same code as in fit_line.
         double normal_theta = .5 * atan2f(-2 * Cxy, (Cyy - Cxx));
         nx = cosf(normal_theta);
         ny = sinf(normal_theta);

diff --git a/3rdparty/apriltag/common/getopt.c b/3rdparty/apriltag/common/getopt.c
@@ -218,7 +218,6 @@ int getopt_parse(getopt_t *gopt, int argc, char *argv[], int showErrors) {
             }
 
             if (goo->type == GOO_STRING_TYPE) {
-                // TODO: check whether next argument is an option, denoting
                 // missing argument
                 if ((i + 1) < zarray_size(toks)) {
                     char *val = NULL;
@@ -272,7 +271,6 @@ int getopt_parse(getopt_t *gopt, int argc, char *argv[], int showErrors) {
                     if ((i + 1) < zarray_size(toks)) {
                         char *val = NULL;
                         zarray_get(toks, i + 1, &val);
-                        // TODO: allow negative numerical values for short-name
                         // options ?
                         if (val[0] == '-') {
                             okay = 0;

diff --git a/3rdparty/apriltag/common/homography.c b/3rdparty/apriltag/common/homography.c
@@ -396,8 +396,6 @@ matd_t *homography_to_model_view(const matd_t *H, double F, double G, double A,
     double R12 = R20 * R01 - R00 * R21;
     double R22 = R00 * R11 - R10 * R01;
 
-    // TODO XXX: Improve rotation matrix by applying polar decomposition.
-
     return matd_create_data(4, 4,
                             (double[]){R00, R01, R02, TX, R10, R11, R12, TY,
                                        R20, R21, R22, TZ, 0, 0, 0, 1});

diff --git a/3rdparty/apriltag/common/matd.c b/3rdparty/apriltag/common/matd.c
@@ -516,14 +516,6 @@ matd_t *matd_inverse(const matd_t *x) {
     return NULL; // unreachable
 }
 
-// TODO Optimization: Some operations we could perform in-place,
-// saving some memory allocation work. E.g., ADD, SUBTRACT. Just need
-// to make sure that we don't do an in-place modification on a matrix
-// that was an input argument!
-
-// handle right-associative operators, greedily consuming them. These
-// include transpose and inverse. This is called by the main recursion
-// method.
 static inline matd_t *matd_op_gobble_right(const char *expr, int *pos,
                                            matd_t *acc, matd_t **garb,
                                            int *garbpos) {
@@ -1091,7 +1083,6 @@ static matd_svd_t matd_svd_tall(matd_t *A, int flags) {
             for (int i = 0; i < vlen; i++)
                 v[i] /= mag;
 
-            // TODO: optimize these multiplications
             // matd_t *Q = matd_identity(A->ncols);
             //  for (int i = 0; i < vlen; i++)
             //    for (int j = 0; j < vlen; j++)

diff --git a/3rdparty/apriltag/common/pjpeg.c b/3rdparty/apriltag/common/pjpeg.c
@@ -238,7 +238,6 @@ static inline uint32_t bd_get_offset(struct bit_decoder *bd) {
 }
 
 static int pjpeg_decode_buffer(struct pjpeg_decode_state *pjd) {
-    // XXX TODO Include sanity check that this is actually a JPG
 
     struct bit_decoder bd;
     memset(&bd, 0, sizeof(struct bit_decoder));

diff --git a/3rdparty/apriltag/common/time_util.c b/3rdparty/apriltag/common/time_util.c
@@ -67,8 +67,6 @@ int32_t timeutil_usleep(int64_t useconds) {
     Sleep(useconds / 1000);
     return 0;
 #else
-    // unistd.h function, but usleep is obsoleted in POSIX.1-2008.
-    // TODO: Eventually, rewrite this to use nanosleep
     return usleep(useconds);
 #endif
 }

diff --git a/3rdparty/json/json.hpp b/3rdparty/json/json.hpp
@@ -9888,7 +9888,7 @@ class binary_reader {
         */
     bool get_ubjson_string(string_t &result, const bool get_char = true) {
         if (get_char) {
-            get(); // TODO(niels): may we ignore N here?
+            get();
         }
 
         if (JSON_HEDLEY_UNLIKELY(

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 3.16)
 
 project(xrsfm)
 
-option(XRPRIMER_ENABLED "Buinding based on XRPRIMER, if available" ON)
+option(XRPRIMER_ENABLED "Buinding based on XRPRIMER, if available" OFF)
 option(CUDA_ENABLED "Whether to enable CUDA, if available" ON)
 set(CUDA_ARCHS "Auto" CACHE STRING "List of CUDA architectures for which to \
 generate code, e.g., Auto, All, Maxwell, Pascal, ...")
@@ -28,11 +28,17 @@ find_package(OpenGL REQUIRED)
 
 find_package(GLEW REQUIRED)
 
+find_package(Qt5 5.4 COMPONENTS Core OpenGL Widgets)
+
+set(CUDA_MIN_VERSION "7.0")
 if (CUDA_ENABLED)
-    find_package(CUDA ${CUDA_MIN_VERSION} QUIET)
-    message(STATUS "found")
+    find_package(CUDA QUIET)
+    message(STATUS "Found CUDA ")
+    message(STATUS "  Includes : ${CUDA_INCLUDE_DIRS}")
+    message(STATUS "  Libraries : ${CUDA_LIBRARIES}")
 endif ()
 
+
 ################################################################################
 # Compiler specific configuration
 ################################################################################
@@ -53,10 +59,9 @@ endif ()
 if (CUDA_FOUND)
     if (CUDA_ENABLED)
         add_definitions("-DCUDA_ENABLED")
-
-        include(${CMAKE_CURRENT_SOURCE_DIR}/SelectCudaComputeArch.cmake)
-
-        CUDA_SELECT_NVCC_ARCH_FLAGS(CUDA_ARCH_FLAGS ${CUDA_ARCHS})
+        if(NOT DEFINED CMAKE_CUDA_ARCHITECTURES)
+            set(CMAKE_CUDA_ARCHITECTURES "native")
+        endif()
 
         set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} ${CUDA_ARCH_FLAGS}")
         set(CUDA_NVCC_FLAGS "${CUDA_NVCC_FLAGS} -D_FORCE_INLINES")
@@ -67,7 +72,8 @@ if (CUDA_FOUND)
         add_definitions("-D_MWAITXINTRIN_H_INCLUDED")
 
         message(STATUS "Enabling CUDA support (version: ${CUDA_VERSION_STRING},"
-                " archs: ${CUDA_ARCH_FLAGS_readable})")
+                " archs: ${CMAKE_CUDA_ARCHITECTURES})")
+
     else ()
         set(CUDA_FOUND OFF)
         message(STATUS "Disabling CUDA support")
@@ -98,6 +104,7 @@ add_library(xrsfm
         src/base/map.cc
 
         src/feature/sift_extractor.cc
+        src/feature/feature_processor.cc
         src/feature/feature_extraction.cc
         src/feature/feature_processing.cc
         src/feature/match_expansion.cc
@@ -108,49 +115,62 @@ add_library(xrsfm
 
         src/geometry/pnp.cc
         src/geometry/essential.cc
-        src/geometry/triangluate_svd.cc
+        src/geometry/triangulate_light.cc
         src/geometry/track_processor.cc
 
-        src/geometry/colmap/base/triangulation.cc
-        src/geometry/colmap/estimators/absolute_pose.cc
-        src/geometry/colmap/estimators/triangulation.cc
-        src/geometry/colmap/estimators/polynomial.cc
-        src/geometry/colmap/estimators/fundamental_matrix.cc
-        src/geometry/colmap/estimators/utils.cc
-        src/geometry/colmap/util/random.cc
-        src/geometry/colmap/optim/random_sampler.cc
-        src/geometry/colmap/optim/combination_sampler.cc
-        src/geometry/colmap/optim/support_measurement.cc
-
         src/optimization/ba_solver.cc
         src/mapper/incremental_mapper.cc
         src/utility/io_ecim.cc
+
+        src/colmap/estimators/absolute_pose.cc
+        src/colmap/estimators/polynomial.cc
+        src/colmap/estimators/fundamental_matrix.cc
+        src/colmap/ransac/random_sampler.cc
+        src/colmap/ransac/combination_sampler.cc
+        src/colmap/ransac/support_measurement.cc
+        src/colmap/ransac/random.cc
+        src/colmap/ui/point_painter.cc
+        src/colmap/ui/project_widget.cc
+        src/colmap/ui/model_viewer_widget.cc
+        src/colmap/ui/resources.qrc
         )
 
+
+qt5_add_resources(RESOURCES src/colmap/ui/resources.qrc)
+
 target_include_directories(xrsfm
         PUBLIC
         ${CMAKE_SOURCE_DIR}
         ${CMAKE_SOURCE_DIR}/src
-        ${CMAKE_SOURCE_DIR}/src/geometry/colmap
+        ${CMAKE_SOURCE_DIR}/src/colmap
         ${CMAKE_SOURCE_DIR}/3rdparty/SiftGPU
         ${CMAKE_SOURCE_DIR}/3rdparty/apriltag
         ${EIGEN3_INCLUDE_DIRS}
+        ${Qt5Core_INCLUDE_DIRS}
+        ${Qt5OpenGL_INCLUDE_DIRS}
+        ${Qt5Widgets_INCLUDE_DIRS}
         )
 
 if(XRPRIMER_ENABLED)
     target_link_libraries(xrsfm
         stdc++fs
+        sift_gpu
         XRPrimer::xrprimer
         ${OpenCV_LIBS}
         ${GTEST_LIBRARIES}
-        sift_gpu
+        ${Qt5Core_LIBRARIES}
+        ${Qt5OpenGL_LIBRARIES}
+        ${Qt5Widgets_LIBRARIES}
         )
 else ()
     target_link_libraries(xrsfm
         stdc++fs
+        sift_gpu
         ${OpenCV_LIBS}
         ${CERES_LIBRARIES}
-        sift_gpu
+        ${Qt5Core_LIBRARIES}
+        ${Qt5OpenGL_LIBRARIES}
+        ${Qt5Widgets_LIBRARIES}
         )
 endif()
 
@@ -174,3 +194,7 @@ target_link_libraries(rec_1dsfm xrsfm)
 
 add_executable(rec_kitti src/rec_kitti.cc)
 target_link_libraries(rec_kitti xrsfm)
+
+add_executable(xrsfm_gui src/xrsfm_gui.cc)
+target_link_libraries(xrsfm_gui xrsfm)
+target_sources(xrsfm_gui PRIVATE ${RESOURCES})
diff --git a/Dockerfile b/Dockerfile
@@ -1,4 +1,4 @@
-FROM nvidia/cuda:10.2-devel-ubuntu18.04
+FROM nvidia/cuda:11.6.1-devel-ubuntu20.04
 
 ENV DEBIAN_FRONTEND=noninteractive
 
@@ -14,6 +14,11 @@ RUN apt-get install -y \
     python3-pip \
     libglew-dev \
     libatlas-base-dev \
-    libgtest-dev
+    libgtest-dev \
+    qtbase5-dev \
+    libqt5opengl5-dev \
+    libeigen3-dev \
+    libceres-dev \
+    libopencv-dev
 
 Run pip3 install numpy