v2.3.0 (#1090)

- store all stages in Interface MVS format by default
- store dense point-cloud as PLY, including all point-views information, etc
- add max-texture-size and multi-texture support to mesh texturing stage
- speedup/improve fix non-manifold mesh algorithm
- unify library/application initialization/destroying
- add python support for reading DMAP and Interface MVS file formats
- account for different pixel center conventions when importing/exporting COLMAP which uses pixel center at (0.5,0.5) instead of (0, 0) as OpenMVS
- add interface to MVSNet, Nerfstudio and RTMV scene formats
- improve interface to Polycam scene format
- speedup PLY load/save
- speedup/improve ray-triangle intersection
- add support for UV coordinates agnostic about orientation
- add support for storing neighbor views information in Interface MVS format
- add support for C++20
- various other fixes

Author: cdcseacave

CMakeLists.txt

@@ -19,12 +19,12 @@ SET(OpenMVS_BUILD_TOOLS ON CACHE BOOL "Build example applications")
 SET(OpenMVS_USE_OPENMP ON CACHE BOOL "Enable OpenMP library")
 SET(OpenMVS_USE_OPENGL ON CACHE BOOL "Enable OpenGL library")
 SET(OpenMVS_USE_BREAKPAD ON CACHE BOOL "Enable BreakPad library")
-SET(OpenMVS_USE_PYTHON OFF CACHE BOOL "Enable Python library bindings")
+SET(OpenMVS_USE_PYTHON ON CACHE BOOL "Enable Python library bindings")
 SET(OpenMVS_USE_CERES OFF CACHE BOOL "Enable CERES optimization library")
 SET(OpenMVS_USE_CUDA ON CACHE BOOL "Enable CUDA library")
-SET(OpenMVS_USE_FAST_FLOAT2INT ON CACHE BOOL "Use an optimized code to convert real numbers to int")
+SET(OpenMVS_USE_FAST_FLOAT2INT OFF CACHE BOOL "Use an optimized code to convert real numbers to int")
 SET(OpenMVS_USE_FAST_INVSQRT OFF CACHE BOOL "Use an optimized code to compute the inverse square root (slower in fact on modern compilers)")
-SET(OpenMVS_USE_FAST_CBRT ON CACHE BOOL "Use an optimized code to compute the cubic root")
+SET(OpenMVS_USE_FAST_CBRT OFF CACHE BOOL "Use an optimized code to compute the cubic root")
 SET(OpenMVS_USE_SSE ON CACHE BOOL "Enable SSE optimizations")
 SET(OpenMVS_MAX_CUDA_COMPATIBILITY OFF CACHE BOOL "Build for maximum CUDA device compatibility")
 SET(OpenMVS_ENABLE_TESTS ON CACHE BOOL "Enable test code")
@@ -52,10 +52,15 @@ ENDIF()
 PROJECT(OpenMVS)
 
 SET(OpenMVS_MAJOR_VERSION 2)
-SET(OpenMVS_MINOR_VERSION 2)
+SET(OpenMVS_MINOR_VERSION 3)
 SET(OpenMVS_PATCH_VERSION 0)
 SET(OpenMVS_VERSION ${OpenMVS_MAJOR_VERSION}.${OpenMVS_MINOR_VERSION}.${OpenMVS_PATCH_VERSION})
 
+# Disable SSE on unsuported platforms
+IF(CMAKE_SYSTEM_PROCESSOR MATCHES "^(arm|ARM|aarch64|AARCH64)")
+	SET(OpenMVS_USE_SSE OFF)
+ENDIF()
+
 # Define helper functions and macros.
 INCLUDE(build/Utils.cmake)
 
@@ -109,16 +114,15 @@ if(OpenMVS_USE_CUDA)
 		ENABLE_LANGUAGE(CUDA)
 		# CUDA-11.x can not be compiled using C++14 standard on Windows
 		string(REGEX MATCH "^[0-9]+" CUDA_MAJOR ${CMAKE_CUDA_COMPILER_VERSION})
-		if(${CUDA_MAJOR} GREATER 10 AND CMAKE_CXX_COMPILER MATCHES "MSVC" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL "19.29")
-			message("Working around windows build failure with visual studio. Visual studio 16.10 introduced a compiler bug with compilng CUDA code with C++14. Set the cuda standard to 17 as a workaround.")
-			set(CMAKE_CUDA_STANDARD 17)
+		if(${CUDA_MAJOR} GREATER 10)
+			SET(CMAKE_CUDA_STANDARD 17)
 		endif()
 		EXECUTE_PROCESS(COMMAND "${CMAKE_CUDA_COMPILER}" --list-gpu-arch 
 				OUTPUT_VARIABLE LIST_GPU_ARCH 
 				ERROR_QUIET)
 		if(NOT LIST_GPU_ARCH AND OpenMVS_MAX_CUDA_COMPATIBILITY)
 			message(WARNING "Cannot compile for max CUDA compatibility, nvcc does not support --list-gpu-arch")
-			set(OpenMVS_MAX_CUDA_COMPATIBILITY NO)
+			SET(OpenMVS_MAX_CUDA_COMPATIBILITY OFF)
 		endif()
 		if(NOT OpenMVS_MAX_CUDA_COMPATIBILITY)
 			if(NOT DEFINED CMAKE_CUDA_ARCHITECTURES)
@@ -172,19 +176,21 @@ if(OpenMVS_USE_BREAKPAD)
 	endif()
 endif()
 
+SET(Boost_EXTRA_COMPONENTS "")
 if(OpenMVS_USE_PYTHON)
-	FIND_PACKAGE(PythonLibs 3.0 REQUIRED)
-	if(PythonLibs_FOUND)
-		INCLUDE_DIRECTORIES(${PYTHON_INCLUDE_DIRS})
-		LIST(APPEND OpenMVS_EXTRA_INCLUDES ${PYTHON_INCLUDE_DIRS})
-		LIST(APPEND OpenMVS_EXTRA_LIBS ${PYTHON_LIBRARIES})
-		MESSAGE(STATUS "Python ${PYTHON_VERSION} found (include: ${PYTHON_INCLUDE_DIRS})")
+	FIND_PACKAGE(Python3 COMPONENTS Interpreter Development REQUIRED)
+	if(Python3_FOUND)
+		INCLUDE_DIRECTORIES(${Python3_INCLUDE_DIRS})
+		LIST(APPEND OpenMVS_EXTRA_INCLUDES ${Python3_INCLUDE_DIRS})
+		LIST(APPEND OpenMVS_EXTRA_LIBS ${Python3_LIBRARIES})
+		LIST(APPEND Boost_EXTRA_COMPONENTS python${Python3_VERSION_MAJOR}${Python3_VERSION_MINOR})
+		MESSAGE(STATUS "Python ${Python3_VERSION_MAJOR}.${Python3_VERSION_MINOR} found (include: ${Python3_INCLUDE_DIRS})")
 	else()
 		MESSAGE("-- Can't find Python. Continuing without it.")
 	endif()
 endif()
 
-FIND_PACKAGE(Boost REQUIRED COMPONENTS iostreams program_options system serialization OPTIONAL_COMPONENTS python3)
+FIND_PACKAGE(Boost REQUIRED COMPONENTS iostreams program_options system serialization OPTIONAL_COMPONENTS ${Boost_EXTRA_COMPONENTS})
 if(Boost_FOUND)
 	LIST(APPEND OpenMVS_EXTRA_INCLUDES ${Boost_INCLUDE_DIRS})
 	INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
@@ -195,12 +201,12 @@ if(Boost_FOUND)
 		LIST(APPEND Boost_LIBRARIES zstd)
 	endif()
 	SET(_USE_BOOST TRUE)
-	if(Boost_python3_FOUND)
+	if(OpenMVS_USE_PYTHON AND Boost_${Boost_EXTRA_COMPONENTS}_FOUND)
 		SET(_USE_BOOST_PYTHON TRUE)
 	endif()
 endif()
 
-FIND_PACKAGE(Eigen3 REQUIRED)
+FIND_PACKAGE(Eigen3 3.4 REQUIRED)
 if(EIGEN3_FOUND)
 	LIST(APPEND OpenMVS_EXTRA_INCLUDES ${EIGEN3_INCLUDE_DIR})
 	INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})

apps/DensifyPointCloud/DensifyPointCloud.cpp

@@ -47,6 +47,7 @@ namespace {
 
 namespace OPT {
 String strInputFileName;
+String strPointCloudFileName;
 String strOutputFileName;
 String strViewNeighborsFileName;
 String strOutputViewNeighborsFileName;
@@ -73,8 +74,17 @@ String strConfigFileName;
 boost::program_options::variables_map vm;
 } // namespace OPT
 
+class Application {
+public:
+	Application() {}
+	~Application() { Finalize(); }
+
+	bool Initialize(size_t argc, LPCTSTR* argv);
+	void Finalize();
+}; // Application
+
 // initialize and parse the command line parameters
-bool Initialize(size_t argc, LPCTSTR* argv)
+bool Application::Initialize(size_t argc, LPCTSTR* argv)
 {
 	// initialize log and console
 	OPEN_LOG();
@@ -86,7 +96,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		("help,h", "produce this help message")
 		("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
 		("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
-		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_DEFAULT), "project archive type: 0-text, 1-binary, 2-compressed binary")
+		("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: -1-interface, 0-text, 1-binary, 2-compressed binary")
 		("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
 		("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
 		#if TD_VERBOSE != TD_VERBOSE_OFF
@@ -127,6 +137,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	boost::program_options::options_description config("Densify options");
 	config.add_options()
 		("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input filename containing camera poses and image list")
+		("pointcloud-file,p", boost::program_options::value<std::string>(&OPT::strPointCloudFileName), "sparse point-cloud with views file name to densify (overwrite existing point-cloud)")
 		("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the dense point-cloud (optional)")
 		("view-neighbors-file", boost::program_options::value<std::string>(&OPT::strViewNeighborsFileName), "input filename containing the list of views and their neighbors (optional)")
 		("output-view-neighbors-file", boost::program_options::value<std::string>(&OPT::strOutputViewNeighborsFileName), "output filename containing the generated list of views and their neighbors")
@@ -153,7 +164,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
         ("estimate-roi", boost::program_options::value(&OPT::nEstimateROI)->default_value(2), "estimate and set region-of-interest (0 - disabled, 1 - enabled, 2 - adaptive)")
         ("crop-to-roi", boost::program_options::value(&OPT::bCrop2ROI)->default_value(true), "crop scene using the region-of-interest")
         ("remove-dmaps", boost::program_options::value(&bRemoveDmaps)->default_value(false), "remove depth-maps after fusion")
-		("tower-mode", boost::program_options::value(&OPT::nTowerMode)->default_value(3), "add a cylinder of points in the center of ROI; scene assume to be Z-up oriented (0 - disabled, 1 - replace, 2 - append, 3 - select neighbors, <0 - force tower mode)")
+		("tower-mode", boost::program_options::value(&OPT::nTowerMode)->default_value(4), "add a cylinder of points in the center of ROI; scene assume to be Z-up oriented (0 - disabled, 1 - replace, 2 - append, 3 - select neighbors, 4 - select neighbors & append, <0 - force tower mode)")
         ;
 
 	// hidden options, allowed both on command line and
@@ -211,6 +222,7 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 		return false;
 
 	// initialize optional options
+	Util::ensureValidPath(OPT::strPointCloudFileName);
 	Util::ensureValidPath(OPT::strOutputFileName);
 	Util::ensureValidPath(OPT::strViewNeighborsFileName);
 	Util::ensureValidPath(OPT::strOutputViewNeighborsFileName);
@@ -242,29 +254,14 @@ bool Initialize(size_t argc, LPCTSTR* argv)
 	if (!bValidConfig && !OPT::strDenseConfigFileName.empty())
 		OPTDENSE::oConfig.Save(OPT::strDenseConfigFileName);
 
-	// initialize global options
-	Process::setCurrentProcessPriority((Process::Priority)OPT::nProcessPriority);
-	#ifdef _USE_OPENMP
-	if (OPT::nMaxThreads != 0)
-		omp_set_num_threads(OPT::nMaxThreads);
-	#endif
-
-	#ifdef _USE_BREAKPAD
-	// start memory dumper
-	MiniDumper::Create(APPNAME, WORKING_FOLDER);
-	#endif
-
-	Util::Init();
+	MVS::Initialize(APPNAME, OPT::nMaxThreads, OPT::nProcessPriority);
 	return true;
 }
 
 // finalize application instance
-void Finalize()
+void Application::Finalize()
 {
-	#if TD_VERBOSE != TD_VERBOSE_OFF
-	// print memory statistics
-	Util::LogMemoryInfo();
-	#endif
+	MVS::Finalize();
 
 	CLOSE_LOGFILE();
 	CLOSE_LOGCONSOLE();
@@ -280,7 +277,8 @@ int main(int argc, LPCTSTR* argv)
 	_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);// | _CRTDBG_CHECK_ALWAYS_DF);
 	#endif
 
-	if (!Initialize(argc, argv))
+	Application application;
+	if (!application.Initialize(argc, argv))
 		return EXIT_FAILURE;
 
 	Scene scene(OPT::nMaxThreads);
@@ -296,12 +294,16 @@ int main(int argc, LPCTSTR* argv)
 			scene.mesh.SamplePoints(ROUND2INT<unsigned>(-OPT::fSampleMesh), pointcloud);
 		VERBOSE("Sample mesh completed: %u points (%s)", pointcloud.GetSize(), TD_TIMER_GET_FMT().c_str());
 		pointcloud.Save(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+_T(".ply"));
-		Finalize();
 		return EXIT_SUCCESS;
 	}
 	// load and estimate a dense point-cloud
-	if (!scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)))
+	const Scene::SCENE_TYPE sceneType(scene.Load(MAKE_PATH_SAFE(OPT::strInputFileName)));
+	if (sceneType == Scene::SCENE_NA)
+		return EXIT_FAILURE;
+	if (!OPT::strPointCloudFileName.empty() && !scene.pointcloud.Load(MAKE_PATH_SAFE(OPT::strPointCloudFileName))) {
+		VERBOSE("error: cannot load point-cloud file");
 		return EXIT_FAILURE;
+	}
 	if (!OPT::strMaskPath.empty()) {
 		Util::ensureValidFolderPath(OPT::strMaskPath);
 		for (Image& image : scene.images) {
@@ -322,7 +324,6 @@ int main(int argc, LPCTSTR* argv)
 			return EXIT_FAILURE;
 		fs >> scene.obb;
 		scene.Save(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
-		Finalize();
 		return EXIT_SUCCESS;
 	}
 	if (!scene.IsBounded())
@@ -332,7 +333,6 @@ int main(int argc, LPCTSTR* argv)
 		if (!fs)
 			return EXIT_FAILURE;
 		fs << scene.obb;
-		Finalize();
 		return EXIT_SUCCESS;
 	}
 	if (OPT::nTowerMode!=0)
@@ -355,15 +355,13 @@ int main(int argc, LPCTSTR* argv)
 		if (!scene.ExportMeshToDepthMaps(MAKE_PATH_SAFE(OPT::strExportDepthMapsName)))
 			return EXIT_FAILURE;
 		VERBOSE("Mesh projection completed: %u depth-maps (%s)", scene.images.size(), TD_TIMER_GET_FMT().c_str());
-		Finalize();
 		return EXIT_SUCCESS;
 	}
 	if (OPT::fMaxSubsceneArea > 0) {
 		// split the scene in sub-scenes by maximum sampling area
 		Scene::ImagesChunkArr chunks;
 		scene.Split(chunks, OPT::fMaxSubsceneArea);
 		scene.ExportChunks(chunks, GET_PATH_FULL(OPT::strOutputFileName), (ARCHIVE_TYPE)OPT::nArchiveType);
-		Finalize();
 		return EXIT_SUCCESS;
 	}
 	if (OPT::thFilterPointCloud < 0) {
@@ -372,7 +370,6 @@ int main(int argc, LPCTSTR* argv)
 		const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName))+_T("_filtered"));
 		scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
 		scene.pointcloud.Save(baseFileName+_T(".ply"));
-		Finalize();
 		return EXIT_SUCCESS;
 	}
 	if (OPT::nExportNumViews && scene.pointcloud.IsValid()) {
@@ -388,7 +385,6 @@ int main(int argc, LPCTSTR* argv)
 			scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
 			scene.pointcloud.Save(baseFileName+_T(".ply"));
 		}
-		Finalize();
 		return EXIT_SUCCESS;
 	}
 	if (OPT::fEstimateScale > 0 && !scene.pointcloud.IsEmpty() && !scene.images.empty()) {
@@ -402,35 +398,36 @@ int main(int argc, LPCTSTR* argv)
 		}
 		const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
 		scene.pointcloud.SaveWithScale(baseFileName+_T("_scale.ply"), scene.images, OPT::fEstimateScale);
-		Finalize();
 		return EXIT_SUCCESS;
 	}
-	if ((ARCHIVE_TYPE)OPT::nArchiveType != ARCHIVE_MVS) {
+	PointCloud sparsePointCloud;
+	if ((ARCHIVE_TYPE)OPT::nArchiveType != ARCHIVE_MVS || sceneType == Scene::SCENE_INTERFACE) {
 		#if TD_VERBOSE != TD_VERBOSE_OFF
 		if (VERBOSITY_LEVEL > 1 && !scene.pointcloud.IsEmpty())
 			scene.pointcloud.PrintStatistics(scene.images.data(), &scene.obb);
 		#endif
+		if ((ARCHIVE_TYPE)OPT::nArchiveType == ARCHIVE_MVS)
+			sparsePointCloud = scene.pointcloud;
 		TD_TIMER_START();
 		if (!scene.DenseReconstruction(OPT::nFusionMode, OPT::bCrop2ROI, OPT::fBorderROI)) {
 			if (ABS(OPT::nFusionMode) != 1)
 				return EXIT_FAILURE;
 			VERBOSE("Depth-maps estimated (%s)", TD_TIMER_GET_FMT().c_str());
-			Finalize();
 			return EXIT_SUCCESS;
 		}
 		VERBOSE("Densifying point-cloud completed: %u points (%s)", scene.pointcloud.GetSize(), TD_TIMER_GET_FMT().c_str());
 	}
 
 	// save the final point-cloud
 	const String baseFileName(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)));
-	scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
-	scene.pointcloud.Save(baseFileName+_T(".ply"));
+	scene.pointcloud.Save(baseFileName+_T(".ply"), (ARCHIVE_TYPE)OPT::nArchiveType == ARCHIVE_MVS);
 	#if TD_VERBOSE != TD_VERBOSE_OFF
 	if (VERBOSITY_LEVEL > 2)
 		scene.ExportCamerasMLP(baseFileName+_T(".mlp"), baseFileName+_T(".ply"));
 	#endif
-
-	Finalize();
+	if ((ARCHIVE_TYPE)OPT::nArchiveType == ARCHIVE_MVS)
+		scene.pointcloud.Swap(sparsePointCloud);
+	scene.Save(baseFileName+_T(".mvs"), (ARCHIVE_TYPE)OPT::nArchiveType);
 	return EXIT_SUCCESS;
 }
 /*----------------------------------------------------------------*/