Merge branch 'master' of https://github.com/david-cattermole/mayaMatc…

…hMoveSolver

CMakeLists.txt

@@ -76,13 +76,13 @@ project(mayaMatchMoveSolver)
 set(PROJECT_VERSION_MAJOR 0)
 set(PROJECT_VERSION_MINOR 5)
 set(PROJECT_VERSION_PATCH 0)
-set(PROJECT_VERSION_TWEAK beta3)
+set(PROJECT_VERSION_TWEAK beta4)
 set(PROJECT_VERSION "${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}.${PROJECT_VERSION_TWEAK}")
 set(PROJECT_HOMEPAGE_URL "https://github.com/david-cattermole/mayaMatchMoveSolver")
 set(PROJECT_DESCRIPTION "Bundle Adjustment solver for MatchMove tasks in Autodesk Maya.")
 set(PROJECT_AUTHOR "David Cattermole and others (see AUTHORS.txt file)")
 set(PROJECT_COPYRIGHT
-  "2018-2023, David Cattermole, Anil Reddy, Kazuma Tonegawa, Patcha Saheb Binginapalli.")
+  "2018-2024, David Cattermole, Anil Reddy, Kazuma Tonegawa, Patcha Saheb Binginapalli.")
 enable_testing()
 
 

LICENSE

@@ -1,7 +1,7 @@
-Copyright (C) 2018-2023 David Cattermole.
+Copyright (C) 2018-2024 David Cattermole.
 Copyright (C) 2019 Anil Reddy.
 Copyright (C) 2020-2022 Kazuma Tonegawa.
-Copyright (C) 2021-2022 Patcha Saheb Binginapalli.
+Copyright (C) 2021-2023 Patcha Saheb Binginapalli.
 
 This software, mmSolver, is licensed under the GNU LGPL v3 license.
 

README.md

@@ -57,6 +57,7 @@ changes.
 
 | Releases                                                                                | Description                                        |
 | --------------------------------------------------------------------------------------- | -------------------------------------------------- |
+| [v0.4.8](https://github.com/david-cattermole/mayaMatchMoveSolver/releases/tag/v0.4.8)   | Add Create Rivet and Surface Cluster tools.        |
 | [v0.4.7](https://github.com/david-cattermole/mayaMatchMoveSolver/releases/tag/v0.4.7)   | Bug fix for "Convert to Marker" tool.              |
 | [v0.4.6](https://github.com/david-cattermole/mayaMatchMoveSolver/releases/tag/v0.4.6)   | Bug fix for solver and minor features.             |
 | [v0.4.5](https://github.com/david-cattermole/mayaMatchMoveSolver/releases/tag/v0.4.5)   | Introduction of MM Renderer and Maya 2024 support. |

docs/source/download.rst

@@ -3,7 +3,7 @@
 Download
 ========
 
-Download the latest release **mmSolver v0.4.7**:
+Download the latest release **mmSolver v0.4.9**:
 
 .. list-table:: Downloads
    :widths: auto
@@ -15,47 +15,47 @@ Download the latest release **mmSolver v0.4.7**:
 
    * - Linux
      - Maya 2019
-     - `link <https://github.com/david-cattermole/mayaMatchMoveSolver/releases/download/v0.4.7/mayaMatchMoveSolver-0.4.7-maya2019-linux.tar.gz>`_
+     - `link <https://github.com/david-cattermole/mayaMatchMoveSolver/releases/download/v0.4.9/mayaMatchMoveSolver-0.4.8-maya2019-linux.tar.gz>`_
 
    * - Linux
      - Maya 2020
-     - `link <https://github.com/david-cattermole/mayaMatchMoveSolver/releases/download/v0.4.7/mayaMatchMoveSolver-0.4.7-maya2020-linux.tar.gz>`_
+     - `link <https://github.com/david-cattermole/mayaMatchMoveSolver/releases/download/v0.4.9/mayaMatchMoveSolver-0.4.8-maya2020-linux.tar.gz>`_
 
    * - Linux
      - Maya 2022
-     - `link <https://github.com/david-cattermole/mayaMatchMoveSolver/releases/download/v0.4.7/mayaMatchMoveSolver-0.4.7-maya2022-linux.tar.gz>`_
+     - `link <https://github.com/david-cattermole/mayaMatchMoveSolver/releases/download/v0.4.9/mayaMatchMoveSolver-0.4.8-maya2022-linux.tar.gz>`_
 
    * - Linux
      - Maya 2023
-     - `link <https://github.com/david-cattermole/mayaMatchMoveSolver/releases/download/v0.4.7/mayaMatchMoveSolver-0.4.7-maya2023-linux.tar.gz>`_
+     - `link <https://github.com/david-cattermole/mayaMatchMoveSolver/releases/download/v0.4.9/mayaMatchMoveSolver-0.4.8-maya2023-linux.tar.gz>`_
 
    * - Linux
      - Maya 2024
-     - `link <https://github.com/david-cattermole/mayaMatchMoveSolver/releases/download/v0.4.7/mayaMatchMoveSolver-0.4.7-maya2024-linux.tar.gz>`_
+     - `link <https://github.com/david-cattermole/mayaMatchMoveSolver/releases/download/v0.4.9/mayaMatchMoveSolver-0.4.8-maya2024-linux.tar.gz>`_
 
    * - Windows
      - Maya 2018
-     - `link <https://github.com/david-cattermole/mayaMatchMoveSolver/releases/download/v0.4.7/mayaMatchMoveSolver-0.4.7-maya2018-win64.zip>`_
+     - `link <https://github.com/david-cattermole/mayaMatchMoveSolver/releases/download/v0.4.9/mayaMatchMoveSolver-0.4.8-maya2018-win64.zip>`_
 
    * - Windows
      - Maya 2019
-     - `link <https://github.com/david-cattermole/mayaMatchMoveSolver/releases/download/v0.4.7/mayaMatchMoveSolver-0.4.7-maya2019-win64.zip>`_
+     - `link <https://github.com/david-cattermole/mayaMatchMoveSolver/releases/download/v0.4.9/mayaMatchMoveSolver-0.4.8-maya2019-win64.zip>`_
 
    * - Windows
      - Maya 2020
-     - `link <https://github.com/david-cattermole/mayaMatchMoveSolver/releases/download/v0.4.7/mayaMatchMoveSolver-0.4.7-maya2020-win64.zip>`_
+     - `link <https://github.com/david-cattermole/mayaMatchMoveSolver/releases/download/v0.4.9/mayaMatchMoveSolver-0.4.8-maya2020-win64.zip>`_
 
    * - Windows
      - Maya 2022
-     - `link <https://github.com/david-cattermole/mayaMatchMoveSolver/releases/download/v0.4.7/mayaMatchMoveSolver-0.4.7-maya2022-win64.zip>`_
+     - `link <https://github.com/david-cattermole/mayaMatchMoveSolver/releases/download/v0.4.9/mayaMatchMoveSolver-0.4.8-maya2022-win64.zip>`_
 
    * - Windows
      - Maya 2023
-     - `link <https://github.com/david-cattermole/mayaMatchMoveSolver/releases/download/v0.4.7/mayaMatchMoveSolver-0.4.7-maya2023-win64.zip>`_
+     - `link <https://github.com/david-cattermole/mayaMatchMoveSolver/releases/download/v0.4.9/mayaMatchMoveSolver-0.4.8-maya2023-win64.zip>`_
 
    * - Windows
      - Maya 2024
-     - `link <https://github.com/david-cattermole/mayaMatchMoveSolver/releases/download/v0.4.7/mayaMatchMoveSolver-0.4.7-maya2024-win64.zip>`_
+     - `link <https://github.com/david-cattermole/mayaMatchMoveSolver/releases/download/v0.4.9/mayaMatchMoveSolver-0.4.8-maya2024-win64.zip>`_
 
 Older versions and full release notes can be found on the GitHub releases_ page.
 

external/openMVG/README.mayaMatchMoveSolver.md

@@ -23,8 +23,8 @@ This project was copied from the following lcoation:
 Page: https://github.com/openMVG/openMVG
 Documentation: https://openmvg.readthedocs.io/en/latest/
 Git URL: https://github.com/openMVG/openMVG.git
-Git Tag: v2.0
-Git Commmit: d0fe73dd426ae4001631a51272cff71047522df9
+Git Tag: v2.1
+Git Commmit: 01193a245ee3c36458e650b1cf4402caad8983ef
 
 ## Copied Files
 

external/openMVG/README.md

@@ -7,7 +7,7 @@ OpenMVG (open Multiple View Geometry)
 
 | **License** | **Documentation** | Continuous Integration (Linux/MacOs/Windows) |Build  | Code Quality | Chat |
 |:-:|:-:|:-:|:-:|:-:|:-:|
-| [![GitHub license](https://img.shields.io/badge/license-MPL2-blue)](https://github.com/openMVG/openMVG/blob/master/LICENSE) |   [![doc](https://img.shields.io/badge/doc-readthedocs-blueviolet)](http://openmvg.readthedocs.org/en/latest) <br> [Wiki](https://github.com/openMVG/openMVG/wiki) | [![Build Status](https://travis-ci.org/openMVG/openMVG.png?branch=develop)](https://travis-ci.org/openMVG/openMVG) <br> [![Build status](https://ci.appveyor.com/api/projects/status/3nv6rt41yxqx5v7i?svg=true)](https://ci.appveyor.com/project/pmoulon/openmvg) | [local/docker build tutorial ](https://github.com/openMVG/openMVG/blob/master/BUILD.md)| [![Codacy Badge](https://api.codacy.com/project/badge/Grade/e067bc979aef48f5a96818714a5b33b9)](https://www.codacy.com/manual/pmoulon/openMVG?utm_source=github.com&amp;utm_medium=referral&amp;utm_content=openMVG/openMVG&amp;utm_campaign=Badge_Grade) <br>  [![Language grade: C/C++](https://img.shields.io/lgtm/grade/cpp/g/openMVG/openMVG.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/openMVG/openMVG/context:cpp) <br> [![CodeFactor](https://www.codefactor.io/repository/github/openmvg/openmvg/badge)](https://www.codefactor.io/repository/github/openmvg/openmvg) | [![Join the chat](https://img.shields.io/badge/chat-on%20gitter-green)](https://gitter.im/openMVG/Lobby) |
+| [![GitHub license](https://img.shields.io/badge/license-MPL2-blue)](https://github.com/openMVG/openMVG/blob/master/LICENSE) |   [![doc](https://img.shields.io/badge/doc-readthedocs-blueviolet)](http://openmvg.readthedocs.org/en/latest) <br> [Wiki](https://github.com/openMVG/openMVG/wiki) | [![CI](https://github.com/openMVG/openMVG/actions/workflows/compile_and_run_test.yml/badge.svg?branch=develop)](https://github.com/openMVG/openMVG/actions/workflows/compile_and_run_test.yml) | [local/docker build tutorial ](https://github.com/openMVG/openMVG/blob/master/BUILD.md)|  [![CodeQL](https://github.com/openMVG/openMVG/actions/workflows/codeql.yml/badge.svg)](https://github.com/openMVG/openMVG/actions/workflows/codeql.yml) <br> [![CodeFactor](https://www.codefactor.io/repository/github/openmvg/openmvg/badge)](https://www.codefactor.io/repository/github/openmvg/openmvg) | [![Join the chat](https://img.shields.io/badge/chat-on%20gitter-green)](https://gitter.im/openMVG/Lobby) |
 
 **Our Mission**
 - Extend awareness of the power of 3D reconstruction from images/photogrammetry by developing a C++ framework.

external/openMVG/src/openMVG/multiview/triangulation.cpp

@@ -66,8 +66,7 @@ bool TriangulateDLT
   P0.block<3,1>(0,3) = t0;
   P1.block<3,1>(0,3) = t1;
   TriangulateDLT(P0, x0, P1, x1, X);
-  return x0.dot(R0 * (*X + R0.transpose() * t0)) > 0.0 &&
-         x1.dot(R1 * (*X + R1.transpose() * t1)) > 0.0;
+  return (R0*(*X) + t0)(2) > 0.0 && (R1*(*X) + t1)(2) > 0.0;
 }
 
 // Helper function

external/openMVG/src/openMVG/sfm/sfm_data_BA_ceres.cpp

@@ -35,6 +35,8 @@
 namespace openMVG {
 namespace sfm {
 
+#define OPENMVG_CERES_HAS_MANIFOLD ((CERES_VERSION_MAJOR * 100 + CERES_VERSION_MINOR) >= 201)
+
 using namespace openMVG::cameras;
 using namespace openMVG::geometry;
 
@@ -112,9 +114,11 @@ Bundle_Adjustment_Ceres::BA_Ceres_options::BA_Ceres_options
 )
 : bVerbose_(bVerbose),
   nb_threads_(1),
-  parameter_tolerance_(1e-8), //~= numeric_limits<float>::epsilon()
+  parameter_tolerance_(1e-8),
+  gradient_tolerance_(1e-10),
   bUse_loss_function_(true),
-  max_num_iterations_(500)
+  max_num_iterations_(50),
+  max_linear_solver_iterations_(500)
 {
   #ifdef OPENMVG_USE_OPENMP
     nb_threads_ = omp_get_max_threads();
@@ -136,12 +140,6 @@ Bundle_Adjustment_Ceres::BA_Ceres_options::BA_Ceres_options
   }
   else
   {
-    if (ceres::IsSparseLinearAlgebraLibraryTypeAvailable(ceres::CX_SPARSE))
-    {
-      sparse_linear_algebra_library_type_ = ceres::CX_SPARSE;
-      linear_solver_type_ = ceres::SPARSE_SCHUR;
-    }
-    else
     if (ceres::IsSparseLinearAlgebraLibraryTypeAvailable(ceres::EIGEN_SPARSE))
     {
       sparse_linear_algebra_library_type_ = ceres::EIGEN_SPARSE;
@@ -241,7 +239,18 @@ bool Bundle_Adjustment_Ceres::Adjust
     }
   }
 
-  ceres::Problem problem;
+  ceres::Problem::Options problem_options;
+
+  // Set a LossFunction to be less penalized by false measurements
+  //  - set it to nullptr if you don't want use a lossFunction.
+  std::unique_ptr<ceres::LossFunction> p_LossFunction;
+  if (ceres_options_.bUse_loss_function_)
+  {
+    p_LossFunction.reset(new ceres::HuberLoss(Square(4.0)));
+    problem_options.loss_function_ownership = ceres::DO_NOT_TAKE_OWNERSHIP;
+  }
+
+  ceres::Problem problem(problem_options);
 
   // Data wrapper for refinement:
   Hash_Map<IndexT, std::vector<double>> map_intrinsics;
@@ -285,9 +294,14 @@ bool Bundle_Adjustment_Ceres::Adjust
       }
       if (!vec_constant_extrinsic.empty())
       {
-        ceres::SubsetParameterization *subset_parameterization =
+#if OPENMVG_CERES_HAS_MANIFOLD
+        auto* subset_manifold = new ceres::SubsetManifold(6, vec_constant_extrinsic);
+        problem.SetManifold(parameter_block, subset_manifold);
+#else
+        auto *subset_parameterization =
           new ceres::SubsetParameterization(6, vec_constant_extrinsic);
         problem.SetParameterization(parameter_block, subset_parameterization);
+#endif
       }
     }
   }
@@ -315,10 +329,17 @@ bool Bundle_Adjustment_Ceres::Adjust
             intrinsic_it.second->subsetParameterization(options.intrinsics_opt);
           if (!vec_constant_intrinsic.empty())
           {
-            ceres::SubsetParameterization *subset_parameterization =
+#if OPENMVG_CERES_HAS_MANIFOLD
+            auto* subset_manifold =
+              new ceres::SubsetManifold(
+                map_intrinsics.at(indexCam).size(), vec_constant_intrinsic);
+            problem.SetManifold(parameter_block, subset_manifold);
+#else
+            auto *subset_parameterization =
               new ceres::SubsetParameterization(
                 map_intrinsics.at(indexCam).size(), vec_constant_intrinsic);
             problem.SetParameterization(parameter_block, subset_parameterization);
+#endif
           }
         }
       }
@@ -329,13 +350,6 @@ bool Bundle_Adjustment_Ceres::Adjust
     }
   }
 
-  // Set a LossFunction to be less penalized by false measurements
-  //  - set it to nullptr if you don't want use a lossFunction.
-  ceres::LossFunction * p_LossFunction =
-    ceres_options_.bUse_loss_function_ ?
-      new ceres::HuberLoss(Square(4.0))
-      : nullptr;
-
   // For all visibility add reprojections errors:
   for (auto & structure_landmark_it : sfm_data.structure)
   {
@@ -358,15 +372,15 @@ bool Bundle_Adjustment_Ceres::Adjust
         if (!map_intrinsics.at(view->id_intrinsic).empty())
         {
           problem.AddResidualBlock(cost_function,
-            p_LossFunction,
+            p_LossFunction.get(),
             &map_intrinsics.at(view->id_intrinsic)[0],
             &map_poses.at(view->id_pose)[0],
             structure_landmark_it.second.X.data());
         }
         else
         {
           problem.AddResidualBlock(cost_function,
-            p_LossFunction,
+            p_LossFunction.get(),
             &map_poses.at(view->id_pose)[0],
             structure_landmark_it.second.X.data());
         }
@@ -462,6 +476,7 @@ bool Bundle_Adjustment_Ceres::Adjust
   //  Make Ceres automatically detect the bundle structure.
   ceres::Solver::Options ceres_config_options;
   ceres_config_options.max_num_iterations = ceres_options_.max_num_iterations_;
+  ceres_config_options.max_linear_solver_iterations = ceres_options_.max_linear_solver_iterations_;
   ceres_config_options.preconditioner_type =
     static_cast<ceres::PreconditionerType>(ceres_options_.preconditioner_type_);
   ceres_config_options.linear_solver_type =
@@ -475,6 +490,8 @@ bool Bundle_Adjustment_Ceres::Adjust
   ceres_config_options.num_linear_solver_threads = ceres_options_.nb_threads_;
 #endif
   ceres_config_options.parameter_tolerance = ceres_options_.parameter_tolerance_;
+  ceres_config_options.gradient_tolerance = ceres_options_.gradient_tolerance_;
+
 
   // Solve BA
   ceres::Solver::Summary summary;

external/openMVG/src/openMVG/sfm/sfm_data_BA_ceres.hpp

@@ -40,8 +40,10 @@ class Bundle_Adjustment_Ceres : public Bundle_Adjustment
     int preconditioner_type_;
     int sparse_linear_algebra_library_type_;
     double parameter_tolerance_;
+    double gradient_tolerance_;
     bool bUse_loss_function_;
     int max_num_iterations_;
+    int max_linear_solver_iterations_;
 
     BA_Ceres_options(const bool bVerbose = true, bool bmultithreaded = true);
   };

external/openMVG/src/openMVG/types.hpp

@@ -9,24 +9,15 @@
 #ifndef OPENMVG_TYPES_HPP
 #define OPENMVG_TYPES_HPP
 
-#ifndef OPENMVG_STD_UNORDERED_MAP
-
-#include <Eigen/Core>
-
-#endif
-
+#include <algorithm>
 #include <cstdint>
 #include <functional>
 #include <limits>
 #include <map>
 #include <set>
-#include <vector>
-
-#ifdef OPENMVG_STD_UNORDERED_MAP
-
-#include <algorithm>
 #include <unordered_map>
 #include <utility>
+#include <vector>
 
 #include "openMVG/stl/hash.hpp"
 namespace std {
@@ -46,8 +37,6 @@ namespace std {
   };
 }
 
-#endif // OPENMVG_STD_UNORDERED_MAP
-
 /**
 * @brief Main namespace of openMVG API
 */
@@ -69,8 +58,6 @@ using Pair_Set = std::set<Pair>;
 /// Vector of Pair
 using Pair_Vec = std::vector<Pair>;
 
-#if defined OPENMVG_STD_UNORDERED_MAP
-
 /**
 * @brief Standard Hash_Map class
 * @tparam K type of the keys
@@ -79,19 +66,6 @@ using Pair_Vec = std::vector<Pair>;
 template<typename Key, typename Value>
 using Hash_Map = std::unordered_map<Key, Value>;
 
-#else
-
-/**
-* @brief Standard Hash_Map class
-* @tparam K type of the keys
-* @tparam V type of the values
-*/
-template<typename Key, typename Value>
-using Hash_Map = std::map<Key, Value, std::less<Key>,
-  Eigen::aligned_allocator<std::pair<const Key, Value>>>;
-
-#endif // OPENMVG_STD_UNORDERED_MAP
-
 } // namespace openMVG
 
 #endif  // OPENMVG_TYPES_HPP

external/openMVG/src/openMVG/version.hpp

@@ -10,14 +10,14 @@
 #define OPENMVG_VERSION_HPP
 
 #define OPENMVG_VERSION_MAJOR 2
-#define OPENMVG_VERSION_MINOR 0
+#define OPENMVG_VERSION_MINOR 1
 #define OPENMVG_VERSION_REVISION 0
 
 // Preprocessor to string conversion
 #define OPENMVG_TO_STRING_HELPER(x) #x
 #define OPENMVG_TO_STRING(x) OPENMVG_TO_STRING_HELPER(x)
 
-// OpenMVG version as a string; for example "2.0.0".
+// OpenMVG version as a string; for example "2.1.0".
 #define OPENMVG_VERSION_STRING OPENMVG_TO_STRING(OPENMVG_VERSION_MAJOR) "." \
   OPENMVG_TO_STRING(OPENMVG_VERSION_MINOR) "." \
   OPENMVG_TO_STRING(OPENMVG_VERSION_REVISION)

python/mmSolver/tools/surfacecluster/__init__.py

@@ -0,0 +1,20 @@
+# Copyright (C) 2024 David Cattermole.
+#
+# This file is part of mmSolver.
+#
+# mmSolver is free software: you can redistribute it and/or modify it
+# under the terms of the GNU Lesser General Public License as
+# published by the Free Software Foundation, either version 3 of the
+# License, or (at your option) any later version.
+#
+# mmSolver is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU Lesser General Public License for more details.
+#
+# You should have received a copy of the GNU Lesser General Public License
+# along with mmSolver.  If not, see <https://www.gnu.org/licenses/>.
+#
+"""
+Surface Cluster tool.
+"""

share/requirements-dev.txt

@@ -1,4 +1,4 @@
-black==22.3.0
+black==24.3.0
 pylint==2.13.9
 flake8==4.0.1
 cpplint==1.6.0