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cmake: support Ceres 2.0.0 #2732

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Nov 7, 2020
Merged

cmake: support Ceres 2.0.0 #2732

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8 changes: 6 additions & 2 deletions modules/rgbd/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,10 +2,14 @@ set(the_description "RGBD algorithms")

find_package(Ceres QUIET)
ocv_define_module(rgbd opencv_core opencv_calib3d opencv_imgproc OPTIONAL opencv_viz WRAP python)
ocv_target_link_libraries(${the_module} ${CERES_LIBRARIES})

if(Ceres_FOUND)
ocv_target_compile_definitions(${the_module} PUBLIC CERES_FOUND)
ocv_target_link_libraries(${the_module} ${CERES_LIBRARIES})
if(Ceres_VERSION VERSION_LESS 2.0.0)
ocv_include_directories("${CERES_INCLUDE_DIRS}")
endif()
add_definitions(/DGLOG_NO_ABBREVIATED_SEVERITIES) # avoid ERROR macro conflict in glog (ceres dependency)
else()
message(STATUS "CERES support is disabled. Ceres Solver is Required for Posegraph optimization")
message(STATUS "rgbd: CERES support is disabled. Ceres Solver is Required for Posegraph optimization")
endif()
90 changes: 57 additions & 33 deletions modules/sfm/CMakeLists.txt
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Expand Up @@ -3,23 +3,56 @@ set(the_description "SFM algorithms")


### LIBMV LIGHT EXTERNAL DEPENDENCIES ###
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
find_package(Gflags QUIET)

find_package(Ceres QUIET)
if(NOT Ceres_FOUND) # Looks like Ceres find glog on the own, so separate search isn't necessary

if(NOT Gflags_FOUND) # Ceres find gflags on the own, so separate search isn't necessary
find_package(Gflags QUIET)
endif()
if(NOT Glog_FOUND) # Ceres find glog on the own, so separate search isn't necessary
find_package(Glog QUIET)
endif()

if((gflags_FOUND OR GFLAGS_FOUND OR GFLAGS_INCLUDE_DIRS) AND (glog_FOUND OR GLOG_FOUND OR GLOG_INCLUDE_DIRS))
set(_fname "${CMAKE_CURRENT_BINARY_DIR}/test_sfm_deps.cpp")
file(WRITE "${_fname}" "#include <glog/logging.h>\n#include <gflags/gflags.h>\nint main() { (void)(0); return 0; }\n")
try_compile(SFM_DEPS_OK "${CMAKE_BINARY_DIR}" "${_fname}"
CMAKE_FLAGS "-DINCLUDE_DIRECTORIES:STRING=${GLOG_INCLUDE_DIRS};${GFLAGS_INCLUDE_DIRS}"
LINK_LIBRARIES ${GLOG_LIBRARIES} ${GFLAGS_LIBRARIES}
OUTPUT_VARIABLE OUTPUT
)
file(REMOVE "${_fname}")
message(STATUS "Checking SFM deps... ${SFM_DEPS_OK}")
if(NOT Gflags_FOUND OR NOT Glog_FOUND)
# try local search scripts
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/cmake")
if(NOT Gflags_FOUND)
find_package(Gflags QUIET)
endif()
if(NOT Glog_FOUND)
find_package(Glog QUIET)
endif()
endif()

if(NOT DEFINED GFLAGS_INCLUDE_DIRS AND DEFINED GFLAGS_INCLUDE_DIR)
set(GFLAGS_INCLUDE_DIRS "${GFLAGS_INCLUDE_DIR}")
endif()
if(NOT DEFINED GLOG_INCLUDE_DIRS AND DEFINED GLOG_INCLUDE_DIR)
set(GLOG_INCLUDE_DIRS "${GLOG_INCLUDE_DIR}")
endif()

if((gflags_FOUND OR Gflags_FOUND OR GFLAGS_FOUND OR GFLAGS_INCLUDE_DIRS) AND (glog_FOUND OR Glog_FOUND OR GLOG_FOUND OR GLOG_INCLUDE_DIRS))
set(__cache_key "${GLOG_INCLUDE_DIRS} ~ ${GFLAGS_INCLUDE_DIRS} ~ ${GLOG_LIBRARIES} ~ ${GFLAGS_LIBRARIES}")
if(NOT DEFINED SFM_GLOG_GFLAGS_TEST_CACHE_KEY OR NOT (SFM_GLOG_GFLAGS_TEST_CACHE_KEY STREQUAL __cache_key))
set(__fname "${CMAKE_CURRENT_LIST_DIR}/cmake/checks/check_glog_gflags.cpp")
try_compile(
SFM_GLOG_GFLAGS_TEST "${CMAKE_BINARY_DIR}" "${__fname}"
CMAKE_FLAGS "-DINCLUDE_DIRECTORIES:STRING=${GLOG_INCLUDE_DIRS};${GFLAGS_INCLUDE_DIRS}"
LINK_LIBRARIES ${GLOG_LIBRARIES} ${GFLAGS_LIBRARIES}
OUTPUT_VARIABLE __output
)
if(NOT SFM_GLOG_GFLAGS_TEST)
file(APPEND ${CMAKE_BINARY_DIR}${CMAKE_FILES_DIRECTORY}/CMakeError.log
"Failed compilation check: ${__fname}\n"
"${__output}\n\n"
)
endif()
set(SFM_GLOG_GFLAGS_TEST "${SFM_GLOG_GFLAGS_TEST}" CACHE INTERNAL "")
set(SFM_GLOG_GFLAGS_TEST_CACHE_KEY "${__cache_key}" CACHE INTERNAL "")
message(STATUS "Checking SFM glog/gflags deps... ${SFM_GLOG_GFLAGS_TEST}")
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@LaurentBerger

new.txt
-- Checking SFM deps... FALSE

Logs don't correspond to the content of this patch.
Please re-check that patch is applied properly.

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@LaurentBerger LaurentBerger Nov 3, 2020 •
edited by alalek
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Failed compilation check: G:/Lib/opencv_contrib/modules/sfm/cmake/checks/check_glog_gflags.cpp
Change Dir: G:/Lib/build/opencv/CMakeFiles/CMakeTmp

Run Build Command(s):C:/Program Files (x86)/Microsoft Visual Studio/2017/Enterprise/MSBuild/15.0/Bin/MSBuild.exe cmTC_32546.vcxproj /p:Configuration=Debug /p:Platform=x64 /p:VisualStudioVersion=15.0 /v:m && Microsoft (R) Build Engine version 15.9.21+g9802d43bc3 pour .NET Framework

Copyright (C) Microsoft Corporation. Tous droits réservés.



  Compilateur d'optimisation Microsoft (R) C/C++ version 19.16.27041 pour x64

  Copyright (C) Microsoft Corporation. Tous droits réservés.

  

  cl /c /IG:\Lib\install\gflags\include /Zi /W4 /WX- /diagnostics:classic /MP /Od /Ob0 /Oi /D WIN32 /D _WINDOWS /D _CRT_SECURE_NO_DEPRECATE /D _CRT_NONSTDC_NO_DEPRECATE /D _SCL_SECURE_NO_WARNINGS /D GFLAGS_IS_A_DLL=1 /D "CMAKE_INTDIR=\"Debug\"" /D _MBCS /Gm- /EHa /RTC1 /MDd /GS /Gy /fp:precise /Zc:wchar_t /Zc:forScope /Zc:inline /GR /Fo"cmTC_32546.dir\Debug\\" /Fd"cmTC_32546.dir\Debug\vc141.pdb" /Gd /TP /wd4127 /wd4251 /wd4324 /wd4275 /wd4512 /wd4589 /errorReport:queue  /bigobj G:\Lib\opencv_contrib\modules\sfm\cmake\checks\check_glog_gflags.cpp

  check_glog_gflags.cpp

  

G:\Lib\opencv_contrib\modules\sfm\cmake\checks\check_glog_gflags.cpp(1): fatal error C1083: Impossible d'ouvrir le fichier include : 'glog/logging.h' : No such file or directory [G:\Lib\build\opencv\CMakeFiles\CMakeTmp\cmTC_32546.vcxproj]

Is it good message ?

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I see /IG:\Lib\install\gflags\include but don't see include directory for glog from this log.

Log above requests to specify GLOG_INCLUDE_DIR:

-- Failed to find glog - Could not find glog include directory, set GLOG_INCLUDE_DIR to directory containing glog/logging.h

Could you dump used CMake options?

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@LaurentBerger LaurentBerger Nov 4, 2020 •
edited
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OK I added :

-DEigen3_DIR:PATH=${installRepo}/Eigen3/share/eigen3/cmake \
-Dglog_DIR:PATH=${installRepo}/glog/lib/cmake/glog -Dgflags_DIR:PATH=${installRepo}/gflags/lib/cmake/gflags \
-DGLOG_INCLUDE_DIR=${installRepo}/glog/include \

and sfm is true :

new.txt

But now I have got an error building sfm :

1>------ Build started: Project: opencv_sfm, Configuration: Release x64 ------
1>simple_pipeline.cpp
1>G:\lib\install\glog\include\glog/log_severity.h(51): fatal error C1189: #error:  ERROR macro is defined. Define GLOG_NO_ABBREVIATED_SEVERITIES before including logging.h. See the document for detail.
1>Done building project "opencv_sfm.vcxproj" -- FAILED.

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fatal error C1189: #error: ERROR macro is defined. Define GLOG_NO_ABBREVIATED_SEVERITIES before including logging.h. See the document for detail.

Added to handle that (not really related to Ceres 2.0.0):

add_definitions(/DGLOG_NO_ABBREVIATED_SEVERITIES)

endif()
unset(__cache_key)
set(SFM_DEPS_OK "${SFM_GLOG_GFLAGS_TEST}")
else()
set(SFM_DEPS_OK FALSE)
endif()
Expand Down Expand Up @@ -57,23 +90,14 @@ set(LIBMV_LIGHT_LIBS
if(Ceres_FOUND)
add_definitions("-DCERES_FOUND=1")
list(APPEND LIBMV_LIGHT_LIBS simple_pipeline)
list(APPEND LIBMV_LIGHT_INCLUDES "${CERES_INCLUDE_DIR}")
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Might this cause a build failure with ceres 1.14, if that is not in a default include path (assuming retaining compatibility with 1.14 is a goal)? It looks to me like ceres 2.0.0 sets the right target properties w.r.t. the include paths, but ceres 1.14 doesn't seem to do so. Otoh with ceres 2.0.0 CERES_INCLUDE_DIRS is not set at all anymore, so you would need to have a conditional to avoid adding an empty include path. In any case, it should be CERES_INCLUDE_DIRS not ..._DIR, I think.

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Fixed (in sfm in rgbd modules).

if(Ceres_VERSION VERSION_LESS 2.0.0)
list(APPEND LIBMV_LIGHT_INCLUDES "${CERES_INCLUDE_DIRS}")
endif()
else()
add_definitions("-DCERES_FOUND=0")
message(STATUS "CERES support is disabled. Ceres Solver for reconstruction API is required.")
endif()

### COMPILE WITH C++11 IF CERES WAS COMPILED WITH C++11

if(Ceres_FOUND)
list (FIND CERES_COMPILED_COMPONENTS "C++11" _index)
if (${_index} GREATER -1)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
endif()
endif()

### DEFINE OPENCV SFM MODULE DEPENDENCIES ###

### CREATE OPENCV SFM MODULE ###

ocv_add_module(sfm
Expand All @@ -85,6 +109,7 @@ ocv_add_module(sfm
WRAP python
)

add_definitions(/DGLOG_NO_ABBREVIATED_SEVERITIES) # avoid ERROR macro conflict in glog (ceres dependency)

ocv_warnings_disable(CMAKE_CXX_FLAGS
-Wundef
Expand All @@ -97,12 +122,6 @@ ocv_warnings_disable(CMAKE_CXX_FLAGS
-Wsuggest-override
)

if(UNIX)
if(CMAKE_COMPILER_IS_GNUCXX OR CV_ICC)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
endif()
endif()

ocv_include_directories( ${LIBMV_LIGHT_INCLUDES} )
ocv_module_include_directories()

Expand All @@ -117,14 +136,16 @@ ocv_set_module_sources(HEADERS ${OPENCV_SFM_HDRS}

ocv_create_module()

# build libmv_light

### BUILD libmv_light ###

if(NOT CMAKE_VERSION VERSION_LESS 2.8.11) # See ocv_target_include_directories() implementation
if(TARGET ${the_module})
get_target_property(__include_dirs ${the_module} INCLUDE_DIRECTORIES)
include_directories(${__include_dirs})
endif()
endif()
include_directories(${OCV_TARGET_INCLUDE_DIRS_${the_module}})
#include_directories(${OCV_TARGET_INCLUDE_DIRS_${the_module}})
add_subdirectory("${CMAKE_CURRENT_LIST_DIR}/src/libmv_light" "${CMAKE_CURRENT_BINARY_DIR}/src/libmv")

ocv_target_link_libraries(${the_module} ${LIBMV_LIGHT_LIBS})
Expand All @@ -133,6 +154,9 @@ ocv_target_link_libraries(${the_module} ${LIBMV_LIGHT_LIBS})
### CREATE OPENCV SFM TESTS ###

ocv_add_accuracy_tests()
if(Ceres_FOUND AND TARGET opencv_test_sfm)
ocv_target_link_libraries(opencv_test_sfm ${CERES_LIBRARIES})
endif ()


### CREATE OPENCV SFM SAMPLES ###
Expand Down
7 changes: 7 additions & 0 deletions modules/sfm/cmake/checks/check_glog_gflags.cpp
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Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
#include <glog/logging.h>
#include <gflags/gflags.h>
int main()
{
(void)(0);
return 0;
}
7 changes: 7 additions & 0 deletions modules/sfm/src/libmv_light/libmv/base/vector.h
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Expand Up @@ -121,7 +121,14 @@ class vector {
void reserve(unsigned int size) {
if (size > size_) {
T *data = static_cast<T *>(allocate(size));
#if 0
memcpy(data, data_, sizeof(*data)*size_);
#else
for (int i = 0; i < size_; ++i)
new (&data[i]) T(std::move(data_[i]));
for (int i = 0; i < size_; ++i)
data_[i].~T();
#endif
allocator_.deallocate(data_, capacity_);
data_ = data;
capacity_ = size;
Expand Down
3 changes: 3 additions & 0 deletions modules/sfm/src/libmv_light/libmv/multiview/CMakeLists.txt
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Expand Up @@ -21,5 +21,8 @@ TARGET_LINK_LIBRARIES(multiview LINK_PRIVATE ${GLOG_LIBRARY} numeric)
IF(TARGET Eigen3::Eigen)
TARGET_LINK_LIBRARIES(multiview LINK_PUBLIC Eigen3::Eigen)
ENDIF()
IF(CERES_LIBRARIES)
TARGET_LINK_LIBRARIES(multiview LINK_PRIVATE ${CERES_LIBRARIES})
ENDIF()

LIBMV_INSTALL_LIB(multiview)
2 changes: 1 addition & 1 deletion modules/sfm/src/libmv_light/libmv/multiview/fundamental.cc
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Expand Up @@ -521,7 +521,7 @@ bool EstimateFundamentalFromCorrespondences(
FundamentalSymmetricEpipolarCostFunctor,
2, // num_residuals
9>(fundamental_symmetric_epipolar_cost_function),
NULL,
nullptr,
F->data());
}

Expand Down
2 changes: 1 addition & 1 deletion modules/sfm/src/libmv_light/libmv/multiview/homography.cc
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Expand Up @@ -318,7 +318,7 @@ bool EstimateHomography2DFromCorrespondences(
HomographySymmetricGeometricCostFunctor,
4, // num_residuals
9>(homography_symmetric_geometric_cost_function),
NULL,
nullptr,
H->data());
}

Expand Down
2 changes: 1 addition & 1 deletion modules/sfm/src/libmv_light/libmv/simple_pipeline/bundle.cc
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Expand Up @@ -402,7 +402,7 @@ void EuclideanBundlePointsOnly(const DistortionModelType distortion_model,
marker.x,
marker.y,
1.0)),
NULL,
nullptr,
ceres_intrinsics,
current_camera_R_t,
&point->X(0));
Expand Down
2 changes: 1 addition & 1 deletion modules/sfm/src/libmv_light/libmv/simple_pipeline/intersect.cc
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Expand Up @@ -113,7 +113,7 @@ bool EuclideanIntersect(const vector<Marker> &markers,
EuclideanIntersectCostFunctor,
2, /* num_residuals */
3>(new EuclideanIntersectCostFunctor(marker, camera)),
NULL,
nullptr,
&X(0));
num_residuals++;
}
Expand Down
4 changes: 0 additions & 4 deletions modules/sfm/src/libmv_light/libmv/simple_pipeline/tracks.cc
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Expand Up @@ -28,10 +28,6 @@

namespace libmv {

Tracks::Tracks(const Tracks &other) {
markers_ = other.markers_;
}

Tracks::Tracks(const vector<Marker> &markers) : markers_(markers) {}

void Tracks::Insert(int image, int track, double x, double y, double weight) {
Expand Down
2 changes: 1 addition & 1 deletion modules/sfm/src/libmv_light/libmv/simple_pipeline/tracks.h
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Expand Up @@ -65,7 +65,7 @@ class Tracks {
Tracks() { }

// Copy constructor for a tracks object.
Tracks(const Tracks &other);
Tracks(const Tracks &other) = default;

/// Construct a new tracks object using the given markers to start.
explicit Tracks(const vector<Marker> &markers);
Expand Down