initial source release

.clang-format

@@ -0,0 +1,26 @@
+# Commented out parameters are those with the same value as base LLVM style
+# We can uncomment them if we want to change their value, or enforce the
+# chosen value in case the base style changes (last sync: Clang 6.0.1).
+---
+### General config, applies to all languages ###
+BasedOnStyle: Google
+IndentWidth: 4
+BreakBeforeBraces: Allman
+ColumnLimit: 120
+DerivePointerAlignment: false
+PointerAlignment: Left
+MaxEmptyLinesToKeep: 3
+SortIncludes: true
+IncludeBlocks: Regroup
+IncludeCategories:
+  - Regex:           '^"(saiga)/'
+    Priority:        1
+  - Regex:           '^"(internal)/'
+    Priority:        2
+  - Regex:           '"[[:alnum:]./]+"'
+    Priority:        3
+  - Regex:           '<[[:alnum:]./]+>'
+    Priority:        4
+IndentPPDirectives: AfterHash
+AlignConsecutiveAssignments: true
+AllowShortFunctionsOnASingleLine: Inline

.gitignore

@@ -0,0 +1,13 @@
+log/
+valgrind*
+cmake-build-*/
+perf*
+out.perf-folded
+.idea/
+checkpoints/
+imgui.ini
+build*/
+debug/
+config.ini
+pretrained/
+experiments/

CMakeLists.txt

@@ -0,0 +1,86 @@
+cmake_minimum_required(VERSION 3.8 FATAL_ERROR)
+project(ADOP VERSION 1.0.0 LANGUAGES CXX CUDA)
+
+set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
+list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/External/saiga/cmake/")
+
+include(helper_macros)
+include(ExternalProject)
+DefaultBuildType(RelWithDebInfo)
+message("Build Options")
+
+OptionsHelper(ADOP_HEADLESS "Skips the adop_viewer and other apps that require a window." OFF)
+OptionsHelper(ADOP_ASAN "Adds sanitize=address compiler flag" OFF)
+
+if (ADOP_HEADLESS)
+    set(SAIGA_MODULE_OPENGL OFF)
+    set(SAIGA_BUILD_GLFW OFF)
+endif ()
+
+############# Required LIBRARIES ###############
+
+# Saiga
+set(SAIGA_BUILD_SAMPLES OFF)
+set(SAIGA_BUILD_TESTS OFF)
+set(SAIGA_BUILD_SHARED ON)
+set(SAIGA_MODULE_VISION OFF)
+set(SAIGA_MODULE_VULKAN OFF)
+#set(SAIGA_MODULE_CUDA OFF)
+set(SAIGA_NO_INSTALL ON)
+set(SAIGA_USE_SUBMODULES ON)
+add_subdirectory(External/saiga)
+PackageHelperTarget(saiga_core SAIGA_FOUND)
+if (NOT ADOP_HEADLESS)
+    PackageHelperTarget(saiga_opengl SAIGA_FOUND)
+endif ()
+PackageHelperTarget(saiga_opengl SAIGA_FOUND)
+PackageHelperTarget(saiga_cuda SAIGA_FOUND)
+
+# Torch
+find_package(Torch REQUIRED)
+PackageHelperTarget(torch TORCH_FOUND)
+
+# Torchvision
+add_subdirectory(External/torchvision)
+target_include_directories(torchvision PUBLIC
+        $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/External/torchvision/>
+        $<INSTALL_INTERFACE:External/torchvision/>
+        )
+PackageHelperTarget(torchvision TORCHVISION_FOUND)
+
+############# COMPILER FLAGS ###############
+
+if (MSVC)
+    #multiprocessor compilation for visual studio
+    SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /MP")
+else ()
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror=return-type")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-strict-aliasing")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-sign-compare")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -ftemplate-backtrace-limit=0")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=native -pthread")
+endif ()
+
+
+message(STATUS CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS})
+message(STATUS CMAKE_EXE_LINKER_FLAGS ${CMAKE_EXE_LINKER_FLAGS})
+
+set(LIBS ${LIBS} ${LIB_TARGETS})
+
+############# C++ Standard and Filesystem stuff ###############
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+
+
+############# SOURCE ###############
+
+add_subdirectory(src)
+
+
+
+
+
+
+

README.md

@@ -169,6 +169,27 @@ This will take between 12-24h depending on scene size and training hardware.
 However, after 100 epochs (3-6h) the novel view synthesis already works very well.
 You can use this checkpoint in the `adop_viewer` to check if everything is working.
 
+## Camera Models
+
+ADOP currently supports two different camera models. 
+The [Pinhole/Distortion](https://docs.opencv.org/4.5.4/d9/d0c/group__calib3d.html) camera model 
+and the [Omnidirectional](https://sites.google.com/site/scarabotix/ocamcalib-omnidirectional-camera-calibration-toolbox-for-matlab?authuser=0) camera model. 
+
+#### Pinhole/Distortion Camera Model
+
+ * The default model for photogrammetry software like COLMAP, Metashape and Capture Reality.
+ * Our implementation is found here: [Pinhole Part](https://github.com/darglein/saiga/blob/master/src/saiga/vision/cameraModel/Intrinsics4.h) and [Distortion Part](https://github.com/darglein/saiga/blob/master/src/saiga/vision/cameraModel/Distortion.h)
+
+#### Omnidirectional Camera Model
+
+ * A fisheye camera model extreme wide-angle angles.
+ * Our implementation is found here: [Model](https://github.com/darglein/saiga/blob/master/src/saiga/vision/cameraModel/OCam.h)
+
+#### Extending ADOP with other Camera Models
+
+ 1. Implement the camera model and its derivative. The derivative should be returned as the Jacobian matrix.
+ 2. Implement the forward and backward projection function [here](src/lib/rendering/PointRendererHelper.h).
+ 3. Add a new type [here](src/lib/data/SceneData.h), update the [rasterization code](src/lib/rendering/PointRenderer.cu) and the [wrapper code](src/lib/data/NeuralStructure.h).
 
 ## Supplementary Material
 

build_adop.sh

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+#!/bin/bash
+
+git submodule update --init --recursive --jobs 0
+source $(conda info --base)/etc/profile.d/conda.sh
+conda activate adop
+
+
+
+if command -v g++-9 &> /dev/null 
+then
+    export CC=gcc-9
+    export CXX=g++-9
+    export CUDAHOSTCXX=g++-9
+    echo "Using g++-9"
+elif command -v g++-7 &> /dev/null
+then
+    export CC=gcc-7
+    export CXX=g++-7
+    export CUDAHOSTCXX=g++-7
+    echo "Using g++-7"
+else
+    echo "No suitable compiler found. Install g++-7 or g++-9"
+    exit
+fi
+
+
+mkdir build
+cd build
+export CONDA=${CONDA_PREFIX:-"$(dirname $(which conda))/../"}
+cmake -DCMAKE_PREFIX_PATH="${CONDA}/lib/python3.9/site-packages/torch/;${CONDA}" ..
+make -j10

create_environment.sh

@@ -1,13 +1,15 @@
 #!/bin/bash
 
-git submodule update --init --recursive
+git submodule update --init --recursive --jobs 0
 
 
 source $(conda info --base)/etc/profile.d/conda.sh
 
+#conda update -n base -c defaults conda
+
 conda create -y -n adop python=3.9.7
 conda activate adop
 
 conda install -y cudnn=8.2.1.32 cudatoolkit-dev=11.2 cudatoolkit=11.2 -c nvidia -c conda-forge
-conda install -y astunparse numpy ninja pyyaml mkl mkl-include setuptools cmake=3.19.6 cffi typing_extensions future six requests dataclasses
+conda install -y astunparse numpy ninja pyyaml mkl mkl-include setuptools cmake=3.19.6 cffi typing_extensions future six requests dataclasses pybind11=2.6.2
 conda install -y magma-cuda110 -c pytorch

scenes/.gitignore

@@ -0,0 +1 @@
+*/

src/CMakeLists.txt

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+add_subdirectory(lib)
+add_subdirectory(tests)
+add_subdirectory(apps)

src/apps/CMakeLists.txt

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+function(add_app TARGET_NAME)
+
+    set_target_properties(${TARGET_NAME} PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}/bin")
+    target_include_directories(${TARGET_NAME} PUBLIC ".")
+    target_link_libraries(${TARGET_NAME} NeuralPoints)
+
+    if (PR_NO_WINDOW)
+        target_compile_definitions(${TARGET_NAME} PUBLIC PR_NO_WINDOW)
+    endif ()
+
+
+    message(STATUS "App enabled:       ${TARGET_NAME}")
+endfunction()
+
+add_executable(colmap2adop colmap2adop.cpp)
+add_app(colmap2adop)
+
+add_executable(preprocess_pointcloud preprocess_pointcloud.cpp)
+add_app(preprocess_pointcloud)
+
+add_executable(adop_train adop_train.cpp)
+add_app(adop_train)
+
+if (TARGET saiga_opengl)
+    add_executable(adop_viewer adop_viewer.cpp adop_viewer.h)
+    add_app(adop_viewer)
+
+
+    find_package(OpenVR QUIET)
+    if (${OPENVR_FOUND})
+        add_executable(adop_vr_viewer adop_vr_viewer.cpp)
+        add_app(adop_vr_viewer)
+    endif ()
+endif ()