Merge branch 'develop'

.gitignore

@@ -6,7 +6,7 @@
 *.lo
 *.o
 *.obj
-build/
+*build*
 
 # Precompiled Headers
 *.gch

.gitmodules

@@ -1,4 +1 @@
-[submodule "SolARWrapper"]
-	path = SolARWrapper
-	url = https://github.com/SolarFramework/SwigWrapper.git
-	branch = .
+

JenkinsFile

@@ -1,5 +1,4 @@
 SolArModulePipeline {
     moduleName="SolARFramework"
     dirName="SolARBuild"
-    android=true
 }

JenkinsFile_All

@@ -38,16 +38,6 @@ pipeline {
                         buildModule("SolARModuleOpenGL",BRANCH,RELEASE,PRE_RELEASE,REMAKEN_VERSION,QMAKE_RULES_VERSION,SKIP_TESTS,UPLOAD_CONAN_PACKAGE)
                     }
                 }
-                stage("SolARModuleOpenGV"){
-                    steps {
-                        buildModule("SolARModuleOpenGV",BRANCH,RELEASE,PRE_RELEASE,REMAKEN_VERSION,QMAKE_RULES_VERSION,SKIP_TESTS,UPLOAD_CONAN_PACKAGE)
-                    }
-                }
-                stage("SolARModuleCeres"){
-                    steps {
-                        buildModule("SolARModuleCeres",BRANCH,RELEASE,PRE_RELEASE,REMAKEN_VERSION,QMAKE_RULES_VERSION,SKIP_TESTS,UPLOAD_CONAN_PACKAGE)
-                    }
-                }
                 stage("SolARModuleTools"){
                     steps {
                         buildModule("SolARModuleTools",BRANCH,RELEASE,PRE_RELEASE,REMAKEN_VERSION,QMAKE_RULES_VERSION,SKIP_TESTS,UPLOAD_CONAN_PACKAGE)

SolARFramework.pri

@@ -1,4 +1,5 @@
 HEADERS += interfaces/api/display/I2DOverlay.h \
+    $$PWD/interfaces/api/pipeline/IServiceManagerPipeline.h \
 interfaces/api/pipeline/IAsyncRelocalizationPipeline.h \
 interfaces/api/solver/pose/ITrackablePose.h \
 interfaces/api/input/devices/IDepthCamera.h \
@@ -46,12 +47,16 @@ interfaces/api/input/devices/IDevice.h \
 interfaces/api/input/devices/IIMU.h \
 interfaces/api/input/devices/IRGBDCamera.h \
 interfaces/api/input/devices/IStereoCameraCalibration.h \
+interfaces/api/input/files/IMeshLoader.h \
 interfaces/api/input/files/IPointCloudLoader.h \
 interfaces/api/input/files/ITrackableLoader.h \
 interfaces/api/input/files/IWorldGraphLoader.h \
 interfaces/api/loop/ILoopClosureDetector.h \
 interfaces/api/loop/ILoopCorrector.h \
 interfaces/api/loop/IOverlapDetector.h \
+interfaces/api/output/files/IMeshExporter.h \
+interfaces/api/output/files/IPointCloudExporter.h \
+interfaces/api/pipeline/IDenseMappingPipeline.h \
 interfaces/api/pipeline/IMappingPipeline.h \
 interfaces/api/pipeline/IPipeline.h \
 interfaces/api/pipeline/IPoseEstimationPipeline.h \
@@ -62,6 +67,9 @@ interfaces/api/pointCloud/IPCFilterCentroid.h \
 interfaces/api/reloc/IKeyframeRetriever.h \
 interfaces/api/reloc/IRelocalizer.h \
 interfaces/api/reloc/IRegression.h \
+interfaces/api/sfm/IMeshing.h \
+interfaces/api/sfm/IMultiViewStereo.h \
+interfaces/api/sfm/IStructureFromMotion.h \
 interfaces/api/sink/ISinkPoseImage.h \
 interfaces/api/sink/ISinkPoseTextureBuffer.h \
 interfaces/api/sink/ISinkReturnCode.h \
@@ -90,6 +98,7 @@ interfaces/api/source/ISourceImage.h \
 interfaces/api/source/ISourceReturnCode.h \
 interfaces/api/storage/ICovisibilityGraphManager.h \
 interfaces/api/storage/IKeyframesManager.h \
+interfaces/api/storage/ICameraParametersManager.h \
 interfaces/api/storage/IPointCloudManager.h \
 interfaces/api/storage/IMapManager.h \
 interfaces/api/tracking/IOpticalFlowEstimator.h \
@@ -101,6 +110,7 @@ interfaces/core/SolARFramework.h \
 interfaces/core/SolARFrameworkDefinitions.h \
 interfaces/datastructure/BufferInternal.hpp \
 interfaces/datastructure/CameraDefinitions.h \
+interfaces/datastructure/CameraParametersCollection.h \
 interfaces/datastructure/CloudPoint.h \
 interfaces/datastructure/CoordinateSystem.h \
 interfaces/datastructure/DescriptorBuffer.h \
@@ -115,6 +125,7 @@ interfaces/datastructure/ImageMarker.h \
 interfaces/datastructure/Keyframe.h \
 interfaces/datastructure/Keypoint.h \
 interfaces/datastructure/MathDefinitions.h \
+interfaces/datastructure/Mesh.h \
 interfaces/datastructure/PointCloud.h \
 interfaces/datastructure/PrimitiveInformation.h \
 interfaces/datastructure/SquaredBinaryPattern.h \
@@ -134,10 +145,12 @@ interfaces/base/geom/AReprojectionStereo.h \
 interfaces/base/pipeline/AMappingPipeline.h \
 interfaces/api/segm/IInstanceSegmentation.h \
 interfaces/api/segm/ISemanticSegmentation.h \
+interfaces/api/segm/IPanopticSegmentation.h \
 interfaces/api/display/IMaskOverlay.h
 
 SOURCES += src/core/Log.cpp \
 src/core/SolARFramework.cpp \
+src/datastructure/CameraParametersCollection.cpp \
 src/datastructure/CloudPoint.cpp \
 src/datastructure/CoordinateSystem.cpp \
 src/datastructure/DescriptorBuffer.cpp \
@@ -159,6 +172,7 @@ src/datastructure/CovisibilityGraph.cpp \
 src/datastructure/KeyframeRetrieval.cpp \
 src/datastructure/KeyframeCollection.cpp \
 src/datastructure/Map.cpp \
+src/datastructure/Mesh.cpp \
 src/base/features/ADescriptorMatcher.cpp \
 src/base/features/ADescriptorMatcherGeometric.cpp \
 src/base/features/ADescriptorMatcherRegion.cpp \

SolARFramework.pro

@@ -10,7 +10,7 @@ QMAKE_PROJECT_DEPTH = 0
 INSTALLSUBDIR = SolARBuild
 TARGET = SolARFramework
 FRAMEWORK = $$TARGET
-VERSION=0.11.0
+VERSION=1.0.0
 
 DEFINES += MYVERSION=$${VERSION}
 DEFINES += TEMPLATE_LIBRARY
@@ -51,15 +51,6 @@ linux {
     QMAKE_LFLAGS += -ldl
 }
 
-macx {
-    DEFINES += _MACOS_TARGET_
-    QMAKE_MAC_SDK= macosx
-    QMAKE_CFLAGS += -mmacosx-version-min=10.7 -std=c11 #-x objective-c++
-    QMAKE_CXXFLAGS += -mmacosx-version-min=10.7 -std=c11 -std=c++11 -fPIC#-x objective-c++
-    QMAKE_LFLAGS += -mmacosx-version-min=10.7 -v -lstdc++
-    LIBS += -lstdc++ -lc -lpthread
-}
-
 win32 {
 
     DEFINES += WIN64 UNICODE _UNICODE
@@ -69,13 +60,6 @@ win32 {
     QMAKE_CXXFLAGS_RELEASE += /O2
 }
 
-android {
-    # Needed to access android sink for spdlog
-    DEFINES += __ANDROID__
-    ANDROID_ABIS="arm64-v8a"
-}
-
-
 header_interfaces.path  = $${PROJECTDEPLOYDIR}/interfaces/
 header_interfaces.files  = $$files($${PWD}/interfaces/*.h*)
 
@@ -93,6 +77,8 @@ header_interfaces_input_devices.path = $${PROJECTDEPLOYDIR}/interfaces/api/input
 header_interfaces_input_devices.files = $$files($${PWD}/interfaces/api/input/devices/*.h*)
 header_interfaces_input_files.path = $${PROJECTDEPLOYDIR}/interfaces/api/input/files/
 header_interfaces_input_files.files = $$files($${PWD}/interfaces/api/input/files/*.h*)
+header_interfaces_output_files.path = $${PROJECTDEPLOYDIR}/interfaces/api/output/files/
+header_interfaces_output_files.files = $$files($${PWD}/interfaces/api/output/files/*.h*)
 header_interfaces_pointCloud.path  = $${PROJECTDEPLOYDIR}/interfaces/api/pointCloud/
 header_interfaces_pointCloud.files = $$files($${PWD}/interfaces/api/pointCloud/*.h*)
 header_interfaces_reloc.path = $${PROJECTDEPLOYDIR}/interfaces/api/reloc/
@@ -129,6 +115,8 @@ header_base_pipeline.path = $${PROJECTDEPLOYDIR}/interfaces/base/pipeline/
 header_base_pipeline.files += $$files($${PWD}/interfaces/base/pipeline/*.h*)
 header_interfaces_segm.path = $${PROJECTDEPLOYDIR}/interfaces/api/segm/
 header_interfaces_segm.files = $$files($${PWD}/interfaces/api/segm/*.h*)
+header_interfaces_sfm.path = $${PROJECTDEPLOYDIR}/interfaces/api/sfm/
+header_interfaces_sfm.files += $$files($${PWD}/interfaces/api/sfm/*.h*)
 
 INCLUDEPATH += $${PWD}/interfaces
 
@@ -140,6 +128,7 @@ INSTALLS += header_interfaces_fusion
 INSTALLS += header_interfaces_geom
 INSTALLS += header_interfaces_image
 INSTALLS += header_interfaces_input_devices header_interfaces_input_files
+INSTALLS += header_interfaces_output_files
 INSTALLS += header_interfaces_pointCloud
 INSTALLS += header_interfaces_reloc
 INSTALLS += header_interfaces_sink
@@ -152,27 +141,20 @@ INSTALLS += header_interfaces_core
 INSTALLS += header_interfaces_datastructure
 INSTALLS += header_interfaces_pipeline
 INSTALLS += header_interfaces_loop
+INSTALLS += header_interfaces_segm
 INSTALLS += header_interfaces_slam
+INSTALLS += header_interfaces_sfm
 INSTALLS += header_base_features
 INSTALLS += header_base_geom
 INSTALLS += header_base_pipeline
-INSTALLS += header_interfaces_segm
+
 
 OTHER_FILES += \
     packagedependencies.txt \
     packagedependencies-win.txt \
     packagedependencies-linux.txt \
-    packagedependencies-mac.txt \
-    packagedependencies-android.txt \
     extra-packages.txt \
     extra-packages-linux.txt
 
 #NOTE : Must be placed at the end of the .pro
 include ($$shell_quote($$shell_path($${QMAKE_REMAKEN_RULES_ROOT}/remaken_install_target.pri)))) # Shell_quote & shell_path required for visual on windows
-
-DISTFILES +=
-
-HEADERS += \
-    interfaces/api/pipeline/IAsyncRelocalizationPipeline.h
-
-

bcom-SolARFramework.pc.in

@@ -5,7 +5,7 @@ libdir=${exec_prefix}/lib
 includedir=${prefix}/interfaces
 Name: SolARFramework
 Description:
-Version: 0.11.0
+Version: 1.0.0
 Requires:
 Libs: -L${libdir} -l${libname}
 Libs.private: ${libdir}/${pfx}${libname}.${lext}

interfaces/api/display/I3DOverlay.h

@@ -43,14 +43,14 @@ class [[xpcf::clientUUID("ce48f688-bb48-4d61-800c-e504c0d060a8")]] [[xpcf::serve
     /// @brief I3DOverlay default destructor
     virtual ~I3DOverlay() = default;
 
-    /// @brief Set the intrinsic parameters and distorsion of the camera
-    virtual void setCameraParameters(const SolAR::datastructure::CamCalibration & intrinsic_parameters, const SolAR::datastructure::CamDistortion & distorsion_parameters) = 0;
-
     /// @brief Draw a box on the given Image
     /// The box is displayed according to the pose given in parameter. The reference of the box is positionned on the center of its bottom face.
     /// @param[in] Transfomr3Df The pose of the camera from which the box is viewed.
+    /// @param[in] camParams The camera parameters.
     /// @param[in,out] displayImage The image on which the box will be drawn
-    virtual void draw (const SolAR::datastructure::Transform3Df & pose, SRef<SolAR::datastructure::Image> displayImage) = 0;
+    virtual void draw (const SolAR::datastructure::Transform3Df & pose,
+                      const SolAR::datastructure::CameraParameters & camParams,
+                      SRef<SolAR::datastructure::Image> displayImage) = 0;
 
 };
 }

interfaces/api/features/IDescriptorMatcherGeometric.h

@@ -56,32 +56,40 @@ class [[xpcf::clientUUID("1bd62a3f-3376-45c3-a980-94d042ae509f")]] [[xpcf::serve
     /// @param[in] undistortedKeypoints2 The second set of undistorted keypoints.
     /// @param[in] pose1 The first pose.
     /// @param[in] pose2 The second pose.
-    /// @param[in] camParams The intrinsic parameters of the camera.
+    /// @param[in] camParams1 The intrinsic parameters of the camera 1.
+    /// @param[in] camParams2 The intrinsic parameters of the camera 2.
     /// @param[out] matches A vector of matches representing pairs of indices relatively to the first and second set of descriptors.
-    /// @param[in] mask The indices of descriptors in the first frame are used for matching to the second frame. If it is empty then all will be used.
+    /// @param[in] mask1 The indices of descriptors in the first frame are used for matching to the second frame. If it is empty then all will be used.
+    /// @param[in] mask2 The indices of descriptors in the second frame are used for matching to the first frame. If it is empty then all will be used.
     /// @return FrameworkReturnCode::_SUCCESS if matching succeed, else FrameworkReturnCode::_ERROR_
     virtual FrameworkReturnCode match(const SRef<SolAR::datastructure::DescriptorBuffer> descriptors1,
                                       const SRef<SolAR::datastructure::DescriptorBuffer> descriptors2,
                                       const std::vector<SolAR::datastructure::Keypoint> &undistortedKeypoints1,
                                       const std::vector<SolAR::datastructure::Keypoint> &undistortedKeypoints2,
                                       const SolAR::datastructure::Transform3Df& pose1,
                                       const SolAR::datastructure::Transform3Df& pose2,
-                                      const SolAR::datastructure::CameraParameters & camParams,
-                                      std::vector<SolAR::datastructure::DescriptorMatch> & matches,
-                                      const std::vector<uint32_t>& mask = {}) = 0;
+                                      const SolAR::datastructure::CameraParameters & camParams1,
+                                      const SolAR::datastructure::CameraParameters & camParams2,
+                                      std::vector<SolAR::datastructure::DescriptorMatch> & matches,                                      
+                                      const std::vector<uint32_t>& mask1 = {},
+                                      const std::vector<uint32_t>& mask2 = {}) = 0;
 
     /// @brief Match two sets of descriptors from two frames based on epipolar constraint.
     /// @param[in] frame1 The first frame containing descriptors and undistorted keypoints.
     /// @param[in] frame2 The second frame containing descriptors and undistorted keypoints.
-    /// @param[in] camParams The intrinsic parameters of the camera.
+    /// @param[in] camParams1 The intrinsic parameters of the camera 1.
+    /// @param[in] camParams2 The intrinsic parameters of the camera 2.
     /// @param[out] matches A vector of matches representing pairs of indices relatively to the first and second set of descriptors.
-    /// @param[in] mask The indices of descriptors in the first frame are used for matching to the second frame. If it is empty then all will be used.
+    /// @param[in] mask1 The indices of descriptors in the first frame are used for matching to the second frame. If it is empty then all will be used.
+    /// @param[in] mask2 The indices of descriptors in the second frame are used for matching to the first frame. If it is empty then all will be used.
     /// @return FrameworkReturnCode::_SUCCESS if matching succeed, else FrameworkReturnCode::_ERROR_
     virtual FrameworkReturnCode match(const SRef<SolAR::datastructure::Frame> frame1,
                                       const SRef<SolAR::datastructure::Frame> frame2,
-                                      const SolAR::datastructure::CameraParameters & camParams,
+                                      const SolAR::datastructure::CameraParameters & camParams1,
+                                      const SolAR::datastructure::CameraParameters & camParams2,
                                       std::vector<SolAR::datastructure::DescriptorMatch> & matches,
-                                      const std::vector<uint32_t>& mask = {}) = 0;
+                                      const std::vector<uint32_t>& mask1 = {},
+                                      const std::vector<uint32_t>& mask2 = {}) = 0;
 };
 }
 }

interfaces/api/features/IImageMatcher.h

@@ -71,8 +71,8 @@ class [[xpcf::clientUUID("0fcb5bf1-7251-4c7d-a3cc-3da7b4c306f4")]] [[xpcf::serve
 }  // end of namespace SolAR
 
 XPCF_DEFINE_INTERFACE_TRAITS(SolAR::api::features::IImageMatcher,
-                             "157ec340-0682-4e6c-bf69-e4d95fa760d3",
-                             "IImageMatcher",
-                             "IImageMatcher interface description");
+                            "157ec340-0682-4e6c-bf69-e4d95fa760d3",
+                            "IImageMatcher",
+                            "IImageMatcher interface description");
 
 #endif // IIMAGEMATCHER_H

interfaces/api/features/IMatchesFilter.h

@@ -42,14 +42,16 @@ namespace features {
 		/// @param[in] Original keypoints associated to desc_2.
 		/// @param[in] camera pose 1.
 		/// @param[in] camera pose 2.
-		/// @param[in] camera's intrinsic parameters.
+		/// @param[in] first camera's intrinsic parameters.
+               /// @param[in] second camera's intrinsic parameters. 
         virtual void filter(ATTRIBUTE(maybe_unused) const std::vector<SolAR::datastructure::DescriptorMatch> & inputMatches,
                             ATTRIBUTE(maybe_unused) std::vector<SolAR::datastructure::DescriptorMatch> & outputMatches,
                             ATTRIBUTE(maybe_unused) const std::vector<SolAR::datastructure::Keypoint> & inputKeyPoints1,
                             ATTRIBUTE(maybe_unused) const std::vector<SolAR::datastructure::Keypoint> & inputKeyPoints2,
                             ATTRIBUTE(maybe_unused) const SolAR::datastructure::Transform3Df &pose1,
                             ATTRIBUTE(maybe_unused) const SolAR::datastructure::Transform3Df &pose2,
-                            ATTRIBUTE(maybe_unused) const SolAR::datastructure::CamCalibration &intrinsicParams) {};
+                            ATTRIBUTE(maybe_unused) const SolAR::datastructure::CamCalibration &intrinsicParams1, 
+                            ATTRIBUTE(maybe_unused) const SolAR::datastructure::CamCalibration &intrinsicParams2 = SolAR::datastructure::CamCalibration::Zero()) {};
     };
 }
 }

interfaces/api/geom/IProject.h

@@ -42,28 +42,27 @@ class [[xpcf::clientUUID("64351b8a-7801-4ca9-841f-a4254506abc3")]] [[xpcf::serve
     /// @brief I3DTransform default destructor
     virtual ~IProject() = default;
 
-    /// @brief this method is used to set intrinsic parameters and distorsion of the camera
-    /// @param[in] intrinsicParams camera calibration matrix parameters.
-    /// @param[in] distorsionParams camera distorsion parameters.
-    virtual void setCameraParameters(const SolAR::datastructure::CamCalibration & intrinsicParams, const SolAR::datastructure::CamDistortion & distorsionParams) = 0;
-
     /// @brief This method project a set of 3D points in the image plane
     /// @param[in] inputPoints the set of 3D points to project
-    /// @param[out] imagePoints the resulting set of 2D points defined in the image coordinate systemn
     /// @param[in] pose the 3D pose of the camera (a 4x4 float matrix)
+    /// @param[in] camParams the camera parameters.
+    /// @param[out] imagePoints the resulting set of 2D points defined in the image coordinate systemn    
     /// @return FrameworkReturnCode::_SUCCESS_ if 3D projection succeed, else FrameworkReturnCode::_ERROR.
     virtual FrameworkReturnCode project(const std::vector<SolAR::datastructure::Point3Df> & inputPoints,
-                                        std::vector<SolAR::datastructure::Point2Df> & imagePoints,
-                                        const SolAR::datastructure::Transform3Df& pose = SolAR::datastructure::Transform3Df::Identity()) = 0;
+                                        const SolAR::datastructure::Transform3Df& pose,
+                                        const SolAR::datastructure::CameraParameters & camParams,
+                                        std::vector<SolAR::datastructure::Point2Df> & imagePoints) = 0;
 
     /// @brief This method project a set of 3D cloud points in the image plane
     /// @param[in] inputPoints the set of 3D cloud points to project
-    /// @param[out] imagePoints the resulting set of 2D points defined in the image coordinate systemn
     /// @param[in] pose the 3D pose of the camera (a 4x4 float matrix)
+    /// @param[in] camParams the camera parameters.
+    /// @param[out] imagePoints the resulting set of 2D points defined in the image coordinate systemn
     /// @return FrameworkReturnCode::_SUCCESS_ if 3D projection succeed, else FrameworkReturnCode::_ERROR.
     virtual FrameworkReturnCode project(const std::vector<SRef<SolAR::datastructure::CloudPoint>> & inputPoints,
-                                        std::vector<SolAR::datastructure::Point2Df> & imagePoints,
-                                        const SolAR::datastructure::Transform3Df& pose = SolAR::datastructure::Transform3Df::Identity()) = 0;
+                                        const SolAR::datastructure::Transform3Df& pose,
+                                        const SolAR::datastructure::CameraParameters & camParams,
+                                        std::vector<SolAR::datastructure::Point2Df> & imagePoints) = 0;
 
 
 };