code

Signed-off-by: Tanner Schmidt <[email protected]>

CMakeLists.txt

@@ -0,0 +1,270 @@
+project("dart")
+cmake_minimum_required(VERSION 2.8)
+
+# build release if not explicitly told to build debug
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE Release)
+endif()
+
+# turn on c++11
+add_definitions(-std=c++11)
+
+# set CMakeModule path
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/")
+
+# find packages with modules
+find_package(CUDA REQUIRED)
+find_package(PNG REQUIRED)
+find_package(OpenGL REQUIRED QUIET)
+find_package(GLUT REQUIRED)
+find_package(GLEW REQUIRED)
+find_package(DEPTHSENSE)
+find_package(OpenNI2)
+
+# find packages with pkg-config
+find_package(PkgConfig)
+pkg_check_modules(eigen3 REQUIRED eigen3)
+pkg_check_modules(tinyxml REQUIRED tinyxml)
+pkg_check_modules(matheval REQUIRED libmatheval)
+pkg_check_modules(assimp assimp)
+
+include_directories(
+    ${eigen3_INCLUDE_DIRS}
+    ${PNG_INCLUDE_DIRS}
+    ${OPENGL_INCLUDE_DIR}
+    ${GLUT_INCLUDE_DIR}
+    ${GLEW_INCLUDE_DIRS}
+    ${tinyxml_INCLUDE_DIR}
+)
+link_directories(${tinyxml_LIBRARY_DIRS})
+link_libraries(
+    ${PNG_LIBRARIES}
+    ${OPENGL_LIBRARIES}
+    ${GLUT_glut_LIBRARY}
+    ${GLEW_LIBRARIES}
+    ${tinyxml_LIBRARIES}
+    ${matheval_LIBRARIES}
+)
+
+# set dart source
+set(dart_src
+    ${PROJECT_SOURCE_DIR}/src/tracker.h
+    ${PROJECT_SOURCE_DIR}/src/tracker.cpp
+
+    ${PROJECT_SOURCE_DIR}/src/geometry/distance_transforms.h
+    ${PROJECT_SOURCE_DIR}/src/geometry/geometry.h
+    ${PROJECT_SOURCE_DIR}/src/geometry/geometry.cpp
+    ${PROJECT_SOURCE_DIR}/src/geometry/grid_2d.h
+    ${PROJECT_SOURCE_DIR}/src/geometry/grid_3d.h
+    ${PROJECT_SOURCE_DIR}/src/geometry/sdf.h
+    ${PROJECT_SOURCE_DIR}/src/geometry/sdf.cpp
+    ${PROJECT_SOURCE_DIR}/src/geometry/SE3.h
+    ${PROJECT_SOURCE_DIR}/src/geometry/plane_fitting.h
+    ${PROJECT_SOURCE_DIR}/src/geometry/plane_fitting.cpp
+
+    ${PROJECT_SOURCE_DIR}/src/mesh/mesh.h
+    ${PROJECT_SOURCE_DIR}/src/mesh/mesh.cpp
+    ${PROJECT_SOURCE_DIR}/src/mesh/mesh_proc.h
+    ${PROJECT_SOURCE_DIR}/src/mesh/mesh_proc.cpp
+    ${PROJECT_SOURCE_DIR}/src/mesh/mesh_splat.h
+    ${PROJECT_SOURCE_DIR}/src/mesh/mesh_splat.cpp
+    ${PROJECT_SOURCE_DIR}/src/mesh/mesh_sample.h
+    ${PROJECT_SOURCE_DIR}/src/mesh/mesh_sample.cpp
+    ${PROJECT_SOURCE_DIR}/src/mesh/primitive_meshing.h
+    ${PROJECT_SOURCE_DIR}/src/mesh/primitive_meshing.cpp
+
+    ${PROJECT_SOURCE_DIR}/src/img_proc/bilateral_filter.h
+    ${PROJECT_SOURCE_DIR}/src/img_proc/img_ops.h
+    ${PROJECT_SOURCE_DIR}/src/img_proc/organized_point_cloud.h
+    ${PROJECT_SOURCE_DIR}/src/img_proc/resampling.h
+
+    ${PROJECT_SOURCE_DIR}/src/model/host_only_model.h
+    ${PROJECT_SOURCE_DIR}/src/model/host_only_model.cpp
+    ${PROJECT_SOURCE_DIR}/src/model/mirrored_model.h
+    ${PROJECT_SOURCE_DIR}/src/model/mirrored_model.cpp
+    ${PROJECT_SOURCE_DIR}/src/model/model.h
+    ${PROJECT_SOURCE_DIR}/src/model/model.cpp
+
+    ${PROJECT_SOURCE_DIR}/src/optimization/kernels/obsToMod.h
+    ${PROJECT_SOURCE_DIR}/src/optimization/kernels/modToObs.h
+    ${PROJECT_SOURCE_DIR}/src/optimization/kernels/intersection.h
+    ${PROJECT_SOURCE_DIR}/src/optimization/kernels/raycast.h
+    ${PROJECT_SOURCE_DIR}/src/optimization/contact_prior.cpp
+    ${PROJECT_SOURCE_DIR}/src/optimization/optimization.h
+    ${PROJECT_SOURCE_DIR}/src/optimization/optimizer.h
+    ${PROJECT_SOURCE_DIR}/src/optimization/optimizer.cpp
+    ${PROJECT_SOURCE_DIR}/src/optimization/point_2d_3d_prior.cpp
+    ${PROJECT_SOURCE_DIR}/src/optimization/point_3d_3d_prior.cpp
+    ${PROJECT_SOURCE_DIR}/src/optimization/prediction_renderer.h
+    ${PROJECT_SOURCE_DIR}/src/optimization/prediction_renderer.cpp
+    ${PROJECT_SOURCE_DIR}/src/optimization/priors.h
+
+    ${PROJECT_SOURCE_DIR}/src/pose/pose.h
+    ${PROJECT_SOURCE_DIR}/src/pose/pose.cpp
+    ${PROJECT_SOURCE_DIR}/src/pose/pose_reduction.h
+
+    ${PROJECT_SOURCE_DIR}/src/util/cuda_utils.h
+    ${PROJECT_SOURCE_DIR}/src/util/dart_io.h
+    ${PROJECT_SOURCE_DIR}/src/util/dart_io.cpp
+    ${PROJECT_SOURCE_DIR}/src/util/dart_types.h
+    ${PROJECT_SOURCE_DIR}/src/util/gl_dart.h
+    ${PROJECT_SOURCE_DIR}/src/util/gl_dart.cpp
+    ${PROJECT_SOURCE_DIR}/src/util/image_io.h
+    ${PROJECT_SOURCE_DIR}/src/util/image_io.cpp
+    ${PROJECT_SOURCE_DIR}/src/util/mirrored_memory.h
+    ${PROJECT_SOURCE_DIR}/src/util/model_renderer.h
+    ${PROJECT_SOURCE_DIR}/src/util/model_renderer.cpp
+    ${PROJECT_SOURCE_DIR}/src/util/ostream_operators.h
+    ${PROJECT_SOURCE_DIR}/src/util/ostream_operators.cpp
+    ${PROJECT_SOURCE_DIR}/src/util/prefix.h
+    ${PROJECT_SOURCE_DIR}/src/util/string_format.h
+    ${PROJECT_SOURCE_DIR}/src/util/string_format.cpp
+    ${PROJECT_SOURCE_DIR}/src/util/vector_type_template.h
+
+    ${PROJECT_SOURCE_DIR}/src/visualization/color_ramps.h
+    ${PROJECT_SOURCE_DIR}/src/visualization/data_association_viz.h
+    ${PROJECT_SOURCE_DIR}/src/visualization/gradient_viz.h
+    ${PROJECT_SOURCE_DIR}/src/visualization/matrix_viz.h
+    ${PROJECT_SOURCE_DIR}/src/visualization/sdf_viz.h
+)
+
+set(cpu_specific_src
+    ${PROJECT_SOURCE_DIR}/src/geometry/distance_transforms.cpp
+    ${PROJECT_SOURCE_DIR}/src/img_proc/img_ops.cpp
+    ${PROJECT_SOURCE_DIR}/src/img_proc/organized_point_cloud.cpp
+    ${PROJECT_SOURCE_DIR}/src/img_proc/resampling.cpp
+
+    ${PROJECT_SOURCE_DIR}/src/visualization/color_ramps.cpp
+    ${PROJECT_SOURCE_DIR}/src/visualization/data_association_viz.cpp
+    ${PROJECT_SOURCE_DIR}/src/visualization/gradient_viz.cpp
+    ${PROJECT_SOURCE_DIR}/src/visualization/sdf_viz.cpp
+)
+
+set(gpu_specific_src
+    ${PROJECT_SOURCE_DIR}/src/geometry/distance_transforms.cu
+    ${PROJECT_SOURCE_DIR}/src/geometry/plane_fitting.cu
+
+    ${PROJECT_SOURCE_DIR}/src/img_proc/bilateral_filter.cu
+    ${PROJECT_SOURCE_DIR}/src/img_proc/img_ops.cu
+    ${PROJECT_SOURCE_DIR}/src/img_proc/organized_point_cloud.cu
+    ${PROJECT_SOURCE_DIR}/src/img_proc/resampling.cu
+
+    ${PROJECT_SOURCE_DIR}/src/optimization/kernels/kernel_common.h
+    ${PROJECT_SOURCE_DIR}/src/optimization/kernels/obsToMod.cu
+    ${PROJECT_SOURCE_DIR}/src/optimization/kernels/modToObs.cu
+    ${PROJECT_SOURCE_DIR}/src/optimization/kernels/intersection.cu
+    ${PROJECT_SOURCE_DIR}/src/optimization/kernels/raycast.cu
+
+    ${PROJECT_SOURCE_DIR}/src/visualization/color_ramps.cu
+    ${PROJECT_SOURCE_DIR}/src/visualization/data_association_viz.cu
+    ${PROJECT_SOURCE_DIR}/src/visualization/gradient_viz.cu
+    ${PROJECT_SOURCE_DIR}/src/visualization/matrix_viz.cu
+    ${PROJECT_SOURCE_DIR}/src/visualization/sdf_viz.cu
+)
+
+set(point_cloud_srcs
+    ${PROJECT_SOURCE_DIR}/src/point_cloud_src/point_cloud_src.h
+)
+
+set(depth_source_src
+    ${PROJECT_SOURCE_DIR}/src/depth_sources/depth_source.h
+    ${PROJECT_SOURCE_DIR}/src/depth_sources/image_depth_source.h
+)
+
+# set conditional sources
+if(OPENNI2_FOUND)
+    include_directories(${OPENNI2_INCLUDE_DIRS})
+    link_directories(${OPENNI2_REDIST_DIR})
+    link_libraries(${OPENNI2_LIBRARY})
+    set(depth_source_src
+        ${depth_source_src}
+        ${PROJECT_SOURCE_DIR}/src/depth_sources/openni_depth_source.h
+        ${PROJECT_SOURCE_DIR}/src/depth_sources/openni_depth_source.cpp
+    )
+endif()
+
+if(DEPTHSENSE_FOUND)
+    add_definitions(-DHAS_INTEL)
+    include_directories(${DEPTHSENSE_INCLUDE_DIR})
+    link_libraries(${DEPTHSENSE_LIBRARIES})
+    set(depth_source_src
+        ${depth_source_src}
+        ${PROJECT_SOURCE_DIR}/src/depth_sources/depthsense_depth_source.h
+        ${PROJECT_SOURCE_DIR}/src/depth_sources/depthsense_depth_source.cpp
+    )
+endif()
+
+if(PMD_FOUND)
+    set(depth_source_src
+        ${depth_source_src}
+        ${PROJECT_SOURCE_DIR}/src/depth_sources/pmd_depth_source.h
+        ${PROJECT_SOURCE_DIR}/src/depth_sources/pmd_depth_source.cpp
+    )
+endif()
+
+if(assimp_FOUND)
+    link_libraries(${assimp_LIBRARIES})
+    include_directories(${assimp_INCLUDE_DIRS})
+    set(dart_src
+        ${dart_src}
+        ${PROJECT_SOURCE_DIR}/src/mesh/assimp_mesh_reader.h
+        ${PROJECT_SOURCE_DIR}/src/mesh/assimp_mesh_reader.cpp
+    )
+    add_definitions(-DASSIMP_BUILD)
+endif()
+
+include_directories(${PROJECT_SOURCE_DIR}/src/)
+
+# set up library output
+set(BUILD_SHARED_LIBS ON)
+set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
+
+set(CUDA_NVCC_FLAGS "-arch=sm_35" "--use_fast_math"  "-O3" "--ptxas-options=--verbose") # "-fmad=false" "-DTHRUST_DEVICE_BACKEND=THRUST_DEVICE_BACKEND_OMP"
+
+# add library
+if(CUDA_FOUND)
+    include_directories(${CUDA_TOOLKIT_ROOT_DIR}/samples/common/inc)
+    add_definitions(-DCUDA_BUILD)
+    cuda_add_library(${PROJECT_NAME} ${dart_src} ${point_cloud_srcs} ${depth_source_src} ${gpu_specific_src})
+else()
+    add_library(${PROJECT_NAME} ${dart_src} ${point_cloud_srcs} ${depth_source_src} ${cpu_specific_src})
+endif()
+
+# testing
+find_package(GTest)
+set(BUILD_TESTS OFF CACHE BOOL "build the tests (requires gtest)")
+if(${BUILD_TESTS} AND ${GTEST_FOUND})
+    message(STATUS "building tests")
+
+    find_package(Threads REQUIRED QUIET)
+
+    include_directories(${GTEST_INCLUDE_DIRS})
+    link_directories(${GTEST_LIBRARIES})
+    link_libraries(gtest pthread)
+
+    set(test_sources
+        test/test_model_jacobian.cpp
+        test/test_obs_to_mod_kernels.cpp
+        test/test_pose_reduction.cpp
+        test/test_voxelize.cpp
+    )
+
+    set(gpu_test_sources
+        test/test_model_jacobian.cu
+        test/test_mirrored_model.cpp
+    )
+
+    cuda_add_executable(
+                # executable
+                test
+                # main source
+                test/test_main.cpp
+                # test sources
+                ${test_sources}
+                # other sources
+                ${sources}
+                ${gpu_sources}
+                ${gpu_test_sources}
+    )
+    target_link_libraries(test dart)
+endif()

CMakeModules/FindDEPTHSENSE.cmake

@@ -0,0 +1,35 @@
+################################################################################
+# Find DEPTHSENSE
+#
+# DEPTHSENSE_FOUND - True if DepthSense was found
+# DEPTHSENSE_INCLUDE_DIR - Directories containing the DepthSense include files
+# DEPTHSENSE_LIBRARIES - Librarires needed to use DepthSense
+#
+################################################################################
+
+IF (WIN32)
+ELSE ()
+    FIND_PATH(DEPTHSENSE_INCLUDE_DIR DepthSense.hxx
+        /opt/DepthSenseSDK/include
+        /opt/softkinetic/DepthSenseSDK/include
+        ${PROJECT_SOURCE_DIR}/external_lib/include
+        DOC "The directory where DepthSense.hxx resides"
+    )
+    FIND_LIBRARY(DEPTHSENSE_LIBRARIES
+        NAMES DepthSense
+        PATHS
+        /opt/DepthSenseSDK/lib/libDepthSense.so
+        /opt/softkinetic/DepthSenseSDK/lib/
+        ${PROJECT_SOURCE_DIR}/external_lib/lib
+        DOC "The DepthSense library"
+    )
+ENDIF()
+
+IF(DEPTHSENSE_INCLUDE_DIR AND DEPTHSENSE_LIBRARIES)
+    SET(DEPTHSENSE_FOUND ON)
+    message(STATUS "DepthSense found: ${DEPTHSENSE_INCLUDE_DIR}")
+ELSE()
+    SET(DEPTHSENSE_FOUND OFF)
+ENDIF()
+
+MARK_AS_ADVANCED(DEPTHSENSE_FOUND)

CMakeModules/FindOpenNI2.cmake

@@ -0,0 +1,83 @@
+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 2 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_OPENNI2 libopenni2)
+else()
+  pkg_check_modules(PC_OPENNI2 QUIET libopenni2)
+endif()
+
+set(OPENNI2_DEFINITIONS ${PC_OPENNI_CFLAGS_OTHER})
+
+set(OPENNI2_SUFFIX)
+if(WIN32 AND CMAKE_SIZEOF_VOID_P EQUAL 8)
+  set(OPENNI2_SUFFIX 64)
+endif(WIN32 AND CMAKE_SIZEOF_VOID_P EQUAL 8)
+
+find_path(OPENNI2_INCLUDE_DIRS OpenNI.h
+    PATHS
+    "$ENV{OPENNI2_INCLUDE${OPENNI2_SUFFIX}}"  # Win64 needs '64' suffix
+    /usr/include/openni2  # common path for deb packages
+)
+
+find_library(OPENNI2_LIBRARY
+             NAMES OpenNI2  # No suffix needed on Win64
+             libOpenNI2     # Linux
+             PATHS "$ENV{OPENNI2_LIB${OPENNI2_SUFFIX}}"  # Windows default path, Win64 needs '64' suffix
+             "$ENV{OPENNI2_REDIST}"                      # Linux install does not use a separate 'lib' directory
+             )
+
+if(CMAKE_SYSTEM_NAME STREQUAL "Darwin")
+  set(OPENNI2_LIBRARIES ${OPENNI2_LIBRARY} ${LIBUSB_1_LIBRARIES})
+else()
+  set(OPENNI2_LIBRARIES ${OPENNI2_LIBRARY})
+endif()
+
+include(FindPackageHandleStandardArgs)
+find_package_handle_standard_args(OpenNI2 DEFAULT_MSG OPENNI2_LIBRARY OPENNI2_INCLUDE_DIRS)
+
+mark_as_advanced(OPENNI2_LIBRARY OPENNI2_INCLUDE_DIRS)
+
+if(OPENNI2_FOUND)
+  # Add the include directories
+  set(OPENNI2_INCLUDE_DIRS ${OPENNI2_INCLUDE_DIR})
+  set(OPENNI2_REDIST_DIR $ENV{OPENNI2_REDIST${OPENNI2_SUFFIX}})
+  message(STATUS "OpenNI 2 found (include: ${OPENNI2_INCLUDE_DIRS}, lib: ${OPENNI2_LIBRARY}, redist: ${OPENNI2_REDIST_DIR})")
+endif(OPENNI2_FOUND)
+#find_path(OpenNI2_INCLUDE_DIR OpenNI.h
+#    /usr/local/OpenNI-2.2/Include
+#    /usr/local/OpenNI-2.1/Include
+
+#)
+#find_path(OpenNI2_LIBRARY_PATH libOpenNI2.so
+#    /usr/local/OpenNI-2.2/Redist
+#    /usr/local/OpenNI-2.1/Redist
+#)
+#if(OpenNI2_INCLUDE_DIR)
+#    set(OpenNI2_FOUND ON)
+#    set(OpenNI2_LIBRARIES libOpenNI2.so libOniFile.so libPS1080.so)
+#    set(OpenNI2_LIBRARY_COPY_PATH ${OpenNI2_LIBRARY_PATH}/OpenNI2)
+#    set(OpenNI2_DRIVER_LIBRARY_PATH ${OpenNI2_LIBRARY_PATH}/OpenNI2/Drivers)
+#endif()