Merge pull request opencv#2 from mihaibujanca/dynamicfusion

More directory restructuring, getting CUDA through opencv rather than…
savuor · Sep 9, 2017 · 1974106 · 1974106
2 parents cd918ef + 26cbdcd
commit 1974106
Show file tree

Hide file tree

Showing 40 changed files with 475 additions and 553 deletions.
diff --git a/modules/dynamicfusion/CMakeLists.txt b/modules/dynamicfusion/CMakeLists.txt
@@ -1,58 +1,10 @@
 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)
+include(cmake/Targets.cmake)
+
+ocv_define_module(dynamicfusion opencv_core opencv_viz opencv_imgproc)
 
 ocv_warnings_disable(CMAKE_CXX_FLAGS
         -Wundef
@@ -63,3 +15,20 @@ ocv_warnings_disable(CMAKE_CXX_FLAGS
         -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()
diff --git a/modules/dynamicfusion/cmake/Modules/FindOpenNI.cmake b/modules/dynamicfusion/cmake/Modules/FindOpenNI.cmake
diff --git a/modules/dynamicfusion/cmake/Targets.cmake b/modules/dynamicfusion/cmake/Targets.cmake
@@ -2,8 +2,8 @@
 # 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)  
+  file(GLOB srcs ${VW_SOURCE_GROUP_GLOB})
+  #list(LENGTH ${srcs} ___size)
   #if (___size GREATER 0)
     source_group(${group} FILES ${srcs})
   #endif()
@@ -12,7 +12,7 @@ endfunction()
 
 ################################################################################################
 # short command getting sources from standard directores
-macro(pickup_std_sources)  
+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*")
@@ -25,13 +25,13 @@ endmacro()
 ################################################################################################
 # short command for declaring includes from other modules
 macro(declare_deps_includes)
-  foreach(__arg ${ARGN})    
+  foreach(__arg ${ARGN})
     get_filename_component(___path "${CMAKE_SOURCE_DIR}/modules/${__arg}/include" ABSOLUTE)
-    if (EXISTS ${___path})    
+    if (EXISTS ${___path})
       include_directories(${___path})
     endif()
   endforeach()
-  
+
   unset(___path)
   unset(__arg)
 endmacro()
@@ -40,21 +40,21 @@ endmacro()
 ################################################################################################
 # short command for setting defeault target properties
 function(default_properties target)
-  set_target_properties(${target} PROPERTIES    
+  set_target_properties(${target} PROPERTIES
     DEBUG_POSTFIX "d"
     ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib"
-    RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")  
-    
+    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(${target} "[test]") 
+  #os_project_label(${target} "[test]")
   if(USE_PROJECT_FOLDERS)
     set_target_properties(${target} PROPERTIES FOLDER "Tests")
-  endif()  
+  endif()
 endfunction()
 
 function(app_props target)
@@ -68,11 +68,11 @@ endfunction()
 ################################################################################################
 # short command for setting defeault target properties
 function(default_properties target)
-  set_target_properties(${target} PROPERTIES    
+  set_target_properties(${target} PROPERTIES
     DEBUG_POSTFIX "d"
     ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/lib"
-    RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")  
-    
+    RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin")
+
     if (NOT ${target} MATCHES "^test_")
       install(TARGETS ${the_target} RUNTIME DESTINATION ".")
     endif()
@@ -82,32 +82,32 @@ endfunction()
 ################################################################################################
 # short command for adding library module
 macro(add_module_library name)
-  set(module_name ${name})  
+  set(module_name ${name})
   pickup_std_sources()
   include_directories(include src src/cuda src/utils)
-  
+
   set(__has_cuda OFF)
-  check_cuda(__has_cuda)  
-  
+  check_cuda(__has_cuda)
+
   set(__lib_type STATIC)
   if (${ARGV1} MATCHES "SHARED|STATIC")
     set(__lib_type ${ARGV1})
   endif()
 
-  if (__has_cuda)  
+  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()  
-  
+  endif()
+
   default_properties(${module_name})
-  
+
   if(USE_PROJECT_FOLDERS)
     set_target_properties(${module_name} PROPERTIES FOLDER "Libraries")
   endif()
@@ -125,16 +125,7 @@ endmacro()
 ################################################################################################
 # short command for adding application module
 macro(add_application target sources)
-  add_executable(${target} ${sources})   
+  add_executable(${target} ${sources})
   default_properties(${target})
   app_props(${target})
 endmacro()
-
-
-################################################################################################
-# short command for adding test target
-macro(add_test the_target)
-  add_executable(${the_target} ${ARGN})
-  default_properties(${the_target})
-  test_props(${the_target})
-endmacro()
diff --git a/modules/dynamicfusion/include/opencv2/dynamicfusion.hpp b/modules/dynamicfusion/include/opencv2/dynamicfusion.hpp
@@ -1,5 +1,7 @@
 #ifndef OPENCV_DYNAMICFUSION_HPP
 #define OPENCV_DYNAMICFUSION_HPP
-#include <opencv2/kfusion/kinfu.hpp>
-#include <opencv2/kfusion/cuda/tsdf_volume.hpp>
+#include <opencv2/dynamicfusion/kinfu.hpp>
+#include <opencv2/dynamicfusion/warp_field.hpp>
+#include <opencv2/dynamicfusion/types.hpp>
+#include <opencv2/dynamicfusion/cuda/tsdf_volume.hpp>
 #endif //OPENCV_DYNAMICFUSION_HPP
diff --git a/modules/dynamicfusion/src/cuda/device.hpp → ...ude/opencv2/dynamicfusion/cuda/device.hpp b/modules/dynamicfusion/src/cuda/device.hpp → ...ude/opencv2/dynamicfusion/cuda/device.hpp
@@ -13,7 +13,8 @@
 //__kf_device__
 //kfusion::device::TsdfVolume::TsdfVolume(const TsdfVolume& other)
 //  : data(other.data), dims(other.dims), voxel_size(other.voxel_size), trunc_dist(other.trunc_dist), max_weight(other.max_weight) {}
-
+namespace cv
+{
 __kf_device__ kfusion::device::TsdfVolume::elem_type* kfusion::device::TsdfVolume::operator()(int x, int y, int z)
 { return data + x + y*dims.x + z*dims.y*dims.x; }
 
@@ -120,8 +121,4 @@ namespace kfusion
     template<> __kf_device__ void kfusion::device::gmem::StCs(const ushort2& val, ushort2* ptr) { *ptr = val; }
 #endif
 
-
-
-
-
-
+}