Merge branch 'enh-improve-here-and-there' into 'master'

ENH: add notes and pursue work on SfM. See merge request oddkiva/sara!456
oddkiva · Apr 24, 2024 · 63df504 · 63df504
2 parents e0af2ee + 190f27c
commit 63df504
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diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -18,7 +18,7 @@ jobs:
         # os:  [macos-latest, windows-latest]
         include:
           - os: ubuntu-latest
-            container: 'oddkiva/sara-devel:cuda12.1.0-ubuntu22.04-trt8.6-swift5.9.1-halide16.0.0'
+            container: 'oddkiva/sara-devel:cuda12.1.0-ubuntu22.04-trt8.6-swift5.10-halide17.0.1'
           - os: ubuntu-latest
             container: 'oddkiva/sara-emsdk-devel:latest'
 

diff --git a/build.ps1 b/build.ps1
@@ -13,7 +13,7 @@ $cmake_toolset = $cmake_vsver[$vsver]
 
 $qt_dir = "C:\local\qt-everywhere-src-6.1.2\qtbase"
 $cudnn_dir = "C:\local\C:\local\cudnn-windows-x86_64-8.8.0.121_cuda12-archive"
-$halide_dir = "C:\local\Halide-16.0.0-x86-64-windows"
+$halide_dir = "C:\local\Halide-17.0.1-x86-64-windows"
 $nvidia_codec_sdk_dir = "C:\local\Video_Codec_SDK_12.1.14"
 $tensorrt_dir = "C:\local\TensorRT-8.6.0.12.Windows10.x86_64.cuda-12.0"
 

diff --git a/build.py b/build.py
@@ -27,8 +27,8 @@
 UBUNTU_VERSION = "22.04"
 CUDA_VERSION = "12.1.0"
 TRT_VERSION = "8.6"
-SWIFT_VERSION = "5.9.1"
-HALIDE_VERSION = "16.0.0"
+SWIFT_VERSION = "5.10"
+HALIDE_VERSION = "17.0.1"
 
 # Docker
 SARA_SOURCE_DIR = pathlib.Path(__file__).parent.resolve()
@@ -186,7 +186,7 @@ def generate_project(
         my_cmake_prefix_paths.append(HALIDE_ROOT_PATH)
     elif SYSTEM == "Darwin":
         cmake_options.append("-D SARA_USE_HALIDE:BOOL=ON")
-        llvm_dir = subprocess.check_output(["brew", "--prefix", "llvm@16"])
+        llvm_dir = subprocess.check_output(["brew", "--prefix", "llvm"])
         llvm_dir = llvm_dir.decode(sys.stdout.encoding).strip()
         llvm_cmake_dir = pathlib.Path(llvm_dir) / "lib" / "cmake" / "llvm"
         cmake_options.append(f"-D LLVM_DIR={llvm_cmake_dir}")

diff --git a/cpp/examples/Sara/MultiViewGeometry/CMakeLists.txt b/cpp/examples/Sara/MultiViewGeometry/CMakeLists.txt
@@ -49,8 +49,11 @@ target_link_libraries(essential_5_point_example PRIVATE tinyply)
 # Visual odometry.
 sara_add_example(visual_odometry_example)
 target_link_libraries(visual_odometry_example PRIVATE DO::Kalpana::EasyGL #
-                                                      fmt::fmt
-                                                      glfw)
+                                                      fmt::fmt glfw)
+
+sara_add_example(visual_odometry_example_v2)
+target_link_libraries(visual_odometry_example_v2 PRIVATE DO::Kalpana::EasyGL #
+                                                         fmt::fmt glfw)
 
 # Bundle adjustment.
 sara_add_example(two_view_bundle_adjustment_example)

diff --git a/cpp/examples/Sara/MultiViewGeometry/essential_5_point_example.cpp b/cpp/examples/Sara/MultiViewGeometry/essential_5_point_example.cpp
@@ -16,14 +16,14 @@
 #include <DO/Sara/FeatureDetectors/SIFT.hpp>
 #include <DO/Sara/Graphics.hpp>
 #include <DO/Sara/ImageIO.hpp>
-#include <DO/Sara/MultiViewGeometry/EpipolarGraph.hpp>
+#include <DO/Sara/MultiViewGeometry/Graph/EpipolarGraph.hpp>
 #include <DO/Sara/MultiViewGeometry/Miscellaneous.hpp>
 #include <DO/Sara/RANSAC/RANSAC.hpp>
 
-#include <DO/Sara/SfM/BuildingBlocks/EssentialMatrixEstimation.hpp>
-#include <DO/Sara/SfM/BuildingBlocks/FundamentalMatrixEstimation.hpp>
-#include <DO/Sara/SfM/BuildingBlocks/KeypointMatching.hpp>
-#include <DO/Sara/SfM/BuildingBlocks/Triangulation.hpp>
+#include <DO/Sara/SfM/Helpers/EssentialMatrixEstimation.hpp>
+#include <DO/Sara/SfM/Helpers/FundamentalMatrixEstimation.hpp>
+#include <DO/Sara/SfM/Helpers/KeypointMatching.hpp>
+#include <DO/Sara/SfM/Helpers/Triangulation.hpp>
 
 #include <filesystem>
 

diff --git a/cpp/examples/Sara/MultiViewGeometry/fundamental_7_point_example.cpp b/cpp/examples/Sara/MultiViewGeometry/fundamental_7_point_example.cpp
@@ -21,7 +21,7 @@
 #include <DO/Sara/RANSAC/RANSAC.hpp>
 #include <DO/Sara/Visualization.hpp>
 
-#include <DO/Sara/SfM/BuildingBlocks/KeypointMatching.hpp>
+#include <DO/Sara/SfM/Helpers/KeypointMatching.hpp>
 
 
 using namespace std;
@@ -89,7 +89,8 @@ auto estimate_fundamental_matrix(const KeypointList<OERegion, float>& keys1,
   const auto data_normalizer =
       std::make_optional(Normalizer<FundamentalMatrix>{X});
 
-  auto inlier_predicate = InlierPredicate<SymmetricEpipolarGeometricSquaredDistance>{};
+  auto inlier_predicate =
+      InlierPredicate<SymmetricEpipolarGeometricSquaredDistance>{};
   inlier_predicate.err_threshold = f_err_thres;
 
   const auto [F, inliers, sample_best] =

diff --git a/cpp/examples/Sara/MultiViewGeometry/orthogonal_vanishing_point_detection.cpp b/cpp/examples/Sara/MultiViewGeometry/orthogonal_vanishing_point_detection.cpp
@@ -354,7 +354,7 @@ int sara_graphics_main(int argc, char** argv)
     tic();
     const Eigen::MatrixXf lines_as_matrix = lines.matrix().transpose();
     auto plane_list = PointList<float, 2>{};
-    auto& plane_tensor = plane_list._data;
+    auto& plane_tensor = plane_list.data;
     plane_tensor.resize(static_cast<int>(line_segments.size()), 4);
     plane_tensor.colmajor_view().matrix() = (Pt * lines_as_matrix)  //
                                                 .colwise()          //

diff --git a/cpp/examples/Sara/MultiViewGeometry/relative_pose_estimation_example.cpp b/cpp/examples/Sara/MultiViewGeometry/relative_pose_estimation_example.cpp
@@ -23,16 +23,16 @@
 #include <DO/Sara/FeatureDetectors/SIFT.hpp>
 #include <DO/Sara/Graphics.hpp>
 #include <DO/Sara/ImageIO.hpp>
-#include <DO/Sara/MultiViewGeometry/EpipolarGraph.hpp>
+#include <DO/Sara/MultiViewGeometry/Graph/EpipolarGraph.hpp>
 #include <DO/Sara/MultiViewGeometry/MinimalSolvers/InlierPredicates.hpp>
 #include <DO/Sara/MultiViewGeometry/MinimalSolvers/RelativePoseSolver.hpp>
 #include <DO/Sara/MultiViewGeometry/Miscellaneous.hpp>
 #include <DO/Sara/RANSAC/RANSAC.hpp>
 
-#include <DO/Sara/SfM/BuildingBlocks/EssentialMatrixEstimation.hpp>
-#include <DO/Sara/SfM/BuildingBlocks/FundamentalMatrixEstimation.hpp>
-#include <DO/Sara/SfM/BuildingBlocks/KeypointMatching.hpp>
-#include <DO/Sara/SfM/BuildingBlocks/Triangulation.hpp>
+#include <DO/Sara/SfM/Helpers/EssentialMatrixEstimation.hpp>
+#include <DO/Sara/SfM/Helpers/FundamentalMatrixEstimation.hpp>
+#include <DO/Sara/SfM/Helpers/KeypointMatching.hpp>
+#include <DO/Sara/SfM/Helpers/Triangulation.hpp>
 
 
 using namespace std::string_literals;

diff --git a/cpp/examples/Sara/MultiViewGeometry/two_view_bundle_adjustment_example.cpp b/cpp/examples/Sara/MultiViewGeometry/two_view_bundle_adjustment_example.cpp
@@ -15,15 +15,14 @@
 #include <DO/Sara/Graphics.hpp>
 #include <DO/Sara/ImageIO.hpp>
 #include <DO/Sara/MultiViewGeometry/BundleAdjustmentProblem.hpp>
-#include <DO/Sara/MultiViewGeometry/EpipolarGraph.hpp>
-#include <DO/Sara/MultiViewGeometry/FeatureGraph.hpp>
+#include <DO/Sara/MultiViewGeometry/Graph/EpipolarGraph.hpp>
+#include <DO/Sara/MultiViewGeometry/Graph/FeatureGraph.hpp>
 #include <DO/Sara/MultiViewGeometry/Miscellaneous.hpp>
 #include <DO/Sara/RANSAC/RANSAC.hpp>
-
-#include <DO/Sara/SfM/BuildingBlocks/EssentialMatrixEstimation.hpp>
-#include <DO/Sara/SfM/BuildingBlocks/FundamentalMatrixEstimation.hpp>
-#include <DO/Sara/SfM/BuildingBlocks/KeypointMatching.hpp>
-#include <DO/Sara/SfM/BuildingBlocks/Triangulation.hpp>
+#include <DO/Sara/SfM/Helpers/EssentialMatrixEstimation.hpp>
+#include <DO/Sara/SfM/Helpers/FundamentalMatrixEstimation.hpp>
+#include <DO/Sara/SfM/Helpers/KeypointMatching.hpp>
+#include <DO/Sara/SfM/Helpers/Triangulation.hpp>
 
 #if defined(_WIN32)
 #  pragma warning(push, 0)

diff --git a/cpp/examples/Sara/MultiViewGeometry/visual_odometry_example.cpp b/cpp/examples/Sara/MultiViewGeometry/visual_odometry_example.cpp
@@ -73,11 +73,18 @@ class SingleWindowApp
     glfwSetWindowSizeCallback(_window, window_size_callback);
   }
 
-  //! @brief Note: RAII does not work on OpenGL applications.
-  //!
-  //! So the destructor gets a default implementation and we neeed to explicitly
-  //! call the terminate method.
-  ~SingleWindowApp() = default;
+  ~SingleWindowApp()
+  {
+    // Destroy GL objects.
+    deinit_gl_resources();
+
+    // Destroy GLFW.
+    if (_window != nullptr)
+      glfwDestroyWindow(_window);
+
+    if (_glfw_initialized)
+      glfwTerminate();
+  }
 
   auto set_config(const fs::path& video_path,
                   const sara::v2::BrownConradyDistortionModel<double>& camera)
@@ -125,17 +132,6 @@ class SingleWindowApp
     }
   }
 
-  auto terminate() -> void
-  {
-    // Destroy GL objects.
-    deinit_gl_resources();
-
-    // Destroy GLFW.
-    if (_window != nullptr)
-      glfwDestroyWindow(_window);
-    glfwTerminate();
-  }
-
 private:
   auto init_opengl() -> void
   {
@@ -264,8 +260,13 @@ class SingleWindowApp
 private:
   static auto init_glfw() -> void
   {
+    if (_glfw_initialized)
+      throw std::runtime_error{
+          "Error: cannot instantiate more than one GLFW application!"};
+
     // Initialize the windows manager.
-    if (!glfwInit())
+    _glfw_initialized = glfwInit();
+    if (!_glfw_initialized)
       throw std::runtime_error{"Error: failed to initialize GLFW!"};
 
     glfwWindowHint(GLFW_CONTEXT_VERSION_MAJOR, 3);
@@ -292,6 +293,8 @@ class SingleWindowApp
   }
 
 private:
+  static bool _glfw_initialized;
+
   GLFWwindow* _window = nullptr;
   //! @brief Framebuffer sizes
   //! We want to use this and not the window sizes because of MacOS retina
@@ -327,6 +330,8 @@ class SingleWindowApp
   float _point_size = 5.f;
 };
 
+bool SingleWindowApp::_glfw_initialized = false;
+
 
 auto main(int const argc, char** const argv) -> int
 {
@@ -340,7 +345,7 @@ auto main(int const argc, char** const argv) -> int
   {
     std::cout << fmt::format("Usage: {} VIDEO_PATH\n",
                              std::string_view{argv[0]});
-    return 1;
+    return EXIT_FAILURE;
   }
 
   const auto video_path = fs::path{argv[1]};
@@ -360,10 +365,17 @@ auto main(int const argc, char** const argv) -> int
     camera.p() << -0.0003137658969742134, 0.00021943576376532096;
   }
 
-  auto app = SingleWindowApp{{800, 600}, "Odometry: " + video_path.string()};
-  app.set_config(video_path, camera);
-  app.run();
-  app.terminate();
+  try
+  {
+    auto app = SingleWindowApp{{800, 600}, "Odometry: " + video_path.string()};
+    app.set_config(video_path, camera);
+    app.run();
+  }
+  catch (std::exception& e)
+  {
+    std::cerr << e.what() << std::endl;
+    return EXIT_FAILURE;
+  }
 
-  return 0;
+  return EXIT_SUCCESS;
 }