RaduAlexandru · JanQuenzel · Jun 23, 2021 · Jun 23, 2021 · Jun 24, 2021 · Jun 24, 2021
diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,4 @@
+*.so
+*.egg-info
+build/
+
diff --git a/.gitmodules b/.gitmodules
@@ -33,7 +33,7 @@
 	url = [email protected]:syoyo/tinyobjloader
 [submodule "deps/utils"]
 	path = deps/utils
-	url = [email protected]:RaduAlexandru/utils.git
+	url = [email protected]:JanQuenzel/utils.git
 [submodule "deps/easy_gl"]
 	path = deps/easy_gl
 	url = [email protected]:RaduAlexandru/EasyGL.git
@@ -46,3 +46,6 @@
 [submodule "deps/easy_pytorch"]
 	path = deps/easy_pytorch
 	url = [email protected]:RaduAlexandru/EasyPytorch.git
+[submodule "deps/implot"]
+	path = deps/implot
+	url = https://github.com/epezent/implot.git
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -7,7 +7,8 @@ project(easypbr)
 ###   VARIABLES   ##############################################################
 set(CMAKE_BUILD_TYPE RelWithDebInfo)
 set(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -Wno-reorder") #we need c++17 because this solves alignment issues with eigen http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1409
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -Wall -O2 -Wno-reorder " ) # -fsanitize=address -fstack-protector -static-libasan") # -march=native -fsanitize=address -fstack-protector-all -static-libasan") #we need c++17 because this solves alignment issues with eigen http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1409
+set(CMAKE_POSITION_INDEPENDENT_CODE TRUE)
 set(CMAKE_CXX_STANDARD 17) #we need c++17 because this solves alignment issues with eigen http://eigen.tuxfamily.org/bz/show_bug.cgi?id=1409
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_EXTENSIONS OFF)
@@ -21,7 +22,8 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 # option(CORE_WITH_CUDA "Compile CUDA" OFF)
 # option(CORE_WITH_GLM "With GLM for some quality of life functions in EasyGL" OFF)
 # option(CORE_WITH_DIR_WATCHER "Compile with the dir_watcher dependency from emildb" OFF)
-
+option(EASYPBR_WITH_PCL "Compile with PCL" OFF)
+option(EASYPBR_WITH_PYBIND "Compile with Pybind" OFF)
 
 
 # libigl
@@ -51,16 +53,43 @@ option(LIBIGL_WITH_XML               "Use XML"            OFF)
 
 ######   PACKAGES   ############################################################
 find_package(GLFW REQUIRED)
-# find_package(Boost REQUIRED COMPONENTS system thread filesystem)
-find_package(Eigen3 3.3 REQUIRED NO_MODULE)
+find_package(Boost REQUIRED COMPONENTS system thread filesystem)
+#find_package(Eigen3 3.3 REQUIRED NO_MODULE)
+
+# clang-specific compile flags
+if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "AppleClang")
+  #set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-exceptions -fcolor-diagnostics -frelaxed-template-template-args -Wno-error=deprecated-declarations")
+  if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang" AND CMAKE_CXX_COMPILER_VERSION VERSION_GREATER_EQUAL 10)
+    # These are disabled to avoid lot's of warnings in Eigen code with clang 10
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-misleading-indentation")
+  endif()
+endif()
+
+if(NOT EIGEN_ROOT)
+  set(EIGEN_ROOT "${CMAKE_CURRENT_SOURCE_DIR}/deps/eigen")
+endif()
+
+set(EIGEN_INCLUDE_DIR_HINTS ${EIGEN_ROOT})
+find_package(Eigen3 3.4.90 EXACT REQUIRED MODULE)
+message(STATUS "Found Eigen headers in: ${EIGEN3_INCLUDE_DIR}")
+if(NOT EIGEN3_INCLUDE_DIR MATCHES "^${EIGEN_ROOT}")
+  message(WARNING "Found Eigen headers are outside of specified EIGEN_ROOT '${EIGEN_ROOT}'")
+endif()
+
+
+
 find_package(OpenCV REQUIRED COMPONENTS core imgproc highgui imgcodecs )
 find_package(LIBIGL REQUIRED)
-find_package(PCL 1.3 REQUIRED)
-link_directories(${PCL_LIBRARY_DIRS})
-add_definitions(${PCL_DEFINITIONS})
+if(EASYPBR_WITH_PCL)
+    find_package(PCL 1.3 REQUIRED)
+    link_directories(${PCL_LIBRARY_DIRS})
+    add_definitions(${PCL_DEFINITIONS})
+endif()
 find_package(kqueue)
 add_definitions(-DIMGUI_IMPL_OPENGL_LOADER_GLAD ) #Imgui will use glad loader
-add_subdirectory(${PROJECT_SOURCE_DIR}/deps/pybind11)
+if(EASYPBR_WITH_PYBIND)
+  add_subdirectory(${PROJECT_SOURCE_DIR}/deps/pybind11)
+endif()
 #try to compile with pytorch if you can
 set(PYTORCH_PATH "/opt/pytorch")
 set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH} ";${PYTORCH_PATH};")
@@ -84,7 +113,11 @@ set(MY_SRC
     ${PROJECT_SOURCE_DIR}/src/LabelMngr.cxx
     ${PROJECT_SOURCE_DIR}/src/Frame.cxx
 )
-file(GLOB IMGUI_SRC ${PROJECT_SOURCE_DIR}/deps/imgui/*.c* ${PROJECT_SOURCE_DIR}/deps/imgui/examples/imgui_impl_glfw.cpp ${PROJECT_SOURCE_DIR}/deps/imgui/examples/imgui_impl_opengl3.cpp ${PROJECT_SOURCE_DIR}/deps/imguizmo/ImGuizmo.cpp
+file(GLOB IMGUI_SRC
+     ${PROJECT_SOURCE_DIR}/deps/imgui/*.c*
+     ${PROJECT_SOURCE_DIR}/deps/imgui/backends/imgui_impl_glfw.cpp
+     ${PROJECT_SOURCE_DIR}/deps/imgui/backends/imgui_impl_opengl3.cpp
+     ${PROJECT_SOURCE_DIR}/deps/imguizmo/ImGuizmo.cpp
 )
 #tinyply because libigl readPLY has a memory leak
 set(DEPS_SRC ${DEPS_SRC} ${PROJECT_SOURCE_DIR}/deps/tiny_ply/source/tinyply.cpp)
@@ -97,7 +130,7 @@ endif()
 
 
 ###   MAIN LIB  ####################
-add_library( easypbr_cpp SHARED ${MY_SRC} extern/glad/glad.c ${DEPS_SRC}  ${IMGUI_SRC}  )
+add_library( easypbr_cpp ${MY_SRC} extern/glad/glad.c ${DEPS_SRC}  ${IMGUI_SRC}  )
 
 
 ###   INCLUDES   #########################################################
@@ -116,19 +149,24 @@ set(PROJECT_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/include
                         ${PROJECT_SOURCE_DIR}/deps/better_enums
                         ${PROJECT_SOURCE_DIR}/deps/imguizmo
                         ${PROJECT_SOURCE_DIR}/deps/concurrent_queue
-                        ${PROJECT_SOURCE_DIR}/deps/pybind11/include
                         ${PROJECT_SOURCE_DIR}/deps/tiny_ply/source
                         ${PROJECT_SOURCE_DIR}/deps/tiny_obj
                         ${PROJECT_SOURCE_DIR}/deps/utils/include
                         ${PROJECT_SOURCE_DIR}/deps/nanoflann/include
                         ) # Header folder
+if(EASYPBR_WITH_PYBIND)
+  set(PROJECT_INCLUDE_DIR ${PROJECT_INCLUDE_DIR} ${PROJECT_SOURCE_DIR}/deps/pybind11/include )
+endif()
+
 target_include_directories(easypbr_cpp PUBLIC ${PROJECT_INCLUDE_DIR} )
 target_include_directories(easypbr_cpp PUBLIC ${GLFW_INCLUDE_DIR})
-# include_directories(${Boost_INCLUDE_DIR})
+include_directories(${Boost_INCLUDE_DIR})
 target_include_directories(easypbr_cpp PUBLIC ${EIGEN3_INCLUDE_DIR})
 target_include_directories(easypbr_cpp PUBLIC ${OpenCV_INCLUDE_DIRS})
 target_include_directories(easypbr_cpp PUBLIC ${LIBIGL_INCLUDE_DIR})
-target_include_directories(easypbr_cpp PUBLIC ${PCL_INCLUDE_DIRS})
+if (EASYPBR_WITH_PCL)
+    target_include_directories(easypbr_cpp PUBLIC ${PCL_INCLUDE_DIRS})
+endif()
 target_include_directories(easypbr_cpp PUBLIC ${TORCH_INCLUDE_DIRS})
 if(${KQUEUE_FOUND})
     target_include_directories(easypbr_cpp PUBLIC ${KQUEUE_INCLUDE_DIRS})
@@ -141,8 +179,9 @@ endif()
 
 
 ##pybind
-pybind11_add_module(easypbr ${PROJECT_SOURCE_DIR}/src/PyBridge.cxx )
-
+if(EASYPBR_WITH_PYBIND)
+  pybind11_add_module(easypbr ${PROJECT_SOURCE_DIR}/src/PyBridge.cxx )
+endif()
 
 ###   EXECUTABLE   #######################################
 add_executable(run_easypbr ${PROJECT_SOURCE_DIR}/src/main.cxx  )
@@ -162,6 +201,9 @@ if(${KQUEUE_FOUND})
 else()
     message("NOT USING DIR_WATCHER")
 endif()
+if (EASYPBR_WITH_PCL)
+    target_compile_definitions(easypbr_cpp PUBLIC EASYPBR_WITH_PCL)
+endif()
 
 #definitions for cmake variables that are necesarry during runtime
 target_compile_definitions(easypbr_cpp PUBLIC EASYPBR_DATA_DIR="${PROJECT_SOURCE_DIR}/data")
@@ -193,10 +235,15 @@ if(${TORCH_FOUND})
         set(LIBS ${LIBS} ${TORCH_PYTHON_LIBRARY} )
     endif()
 endif()
-# set(LIBS ${LIBS} Eigen3::Eigen  ${Boost_LIBRARIES}  igl::core   ${GLFW_LIBRARIES} ${OpenCV_LIBS} ${PCL_LIBRARIES}  )
-set(LIBS ${LIBS} Eigen3::Eigen  igl::core   ${GLFW_LIBRARIES} ${OpenCV_LIBS} ${PCL_LIBRARIES}  )
+set(LIBS ${LIBS} ${Boost_LIBRARIES} )
+set(LIBS ${LIBS} Eigen3::Eigen  igl::core   ${GLFW_LIBRARIES} ${OpenCV_LIBS} )
+if (EASYPBR_WITH_PCL)
+    set(LIBS ${LIBS} ${PCL_LIBRARIES} )
+endif()
 
 
 target_link_libraries(easypbr_cpp PUBLIC ${LIBS} )
-target_link_libraries(easypbr PRIVATE easypbr_cpp)
+if(EASYPBR_WITH_PYBIND)
+  target_link_libraries(easypbr PRIVATE easypbr_cpp)
+endif()
 target_link_libraries(run_easypbr PRIVATE easypbr_cpp )
diff --git a/cmake/FindEigen3.cmake b/cmake/FindEigen3.cmake
@@ -15,6 +15,10 @@
 # Copyright (c) 2009 Benoit Jacob <[email protected]>
 # Redistribution and use is allowed according to the terms of the 2-clause BSD license.
 
+# Adaptations (c) Nikolaus Demmel 2019
+# - pass NO_DEFAULT_PATH --> only works when passing exact HINTS
+
+
 if(NOT Eigen3_FIND_VERSION)
   if(NOT Eigen3_FIND_VERSION_MAJOR)
     set(Eigen3_FIND_VERSION_MAJOR 2)
@@ -62,10 +66,8 @@ if (EIGEN3_INCLUDE_DIR)
 else (EIGEN3_INCLUDE_DIR)
 
   find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
-      PATHS
-      ${CMAKE_INSTALL_PREFIX}/include
-      ${KDE4_INCLUDE_DIR}
-      PATH_SUFFIXES eigen3 eigen
+      HINTS ${EIGEN_INCLUDE_DIR_HINTS}
+      NO_DEFAULT_PATH
     )
 
   if(EIGEN3_INCLUDE_DIR)

diff --git a/deps/better_enums b/deps/better_enums
diff --git a/deps/easy_gl b/deps/easy_gl
diff --git a/deps/imgui b/deps/imgui
diff --git a/deps/implot b/deps/implot
diff --git a/deps/pybind11 b/deps/pybind11
diff --git a/deps/utils b/deps/utils
diff --git a/extern/imgui_ext/ImGuiUtils.h b/extern/imgui_ext/ImGuiUtils.h
@@ -173,7 +173,8 @@ namespace ImGui
         void CalcHistogramSize( int numShown_ )
         {
             ImVec2 wRegion = ImGui::GetContentRegionMax();
-            float heightGone = 7.0f * ImGui::GetItemsLineHeightWithSpacing();
+            //float heightGone = 7.0f * ImGui::GetItemsLineHeightWithSpacing();
+            float heightGone = 7.0f * ImGui::GetFrameHeightWithSpacing();
             wRegion.y -= heightGone;
             wRegion.y /= (float) numShown_;
             const ImGuiStyle& style = ImGui::GetStyle();

diff --git a/include/easy_pbr/Camera.h b/include/easy_pbr/Camera.h
@@ -95,11 +95,13 @@ class Camera : public Generic::EnableSharedFromThis< Camera >
     float m_fov; //fov in the x direction
     float m_near;
     float m_far;
+    double m_ortho_scale = 1;
     bool m_is_initialized; //the camera start in a somewhat default position. Initializing it means putting the camera in position in which you see the scene. This can be done with from_string or can be done by the viewer automatically when the first update is done. If you used from_string then the viewer doesnt need to do anything
     bool m_position_initialized; //signales if the position was initialized already by the user(true) or is not initialized to anything meaningful and should be set automatically
     bool m_lookat_initialized; //signales if the lookat was initialized already by the user(true) or is not initialized to anything meaningful and should be set automatically
     bool m_use_fixed_proj_matrix;
     Eigen::Matrix4f m_fixed_proj_matrix;
+    bool m_use_ortho_projection;
 
     Trajectory m_traj;
     std::shared_ptr<Camera> clone();
@@ -120,9 +122,9 @@ class Camera : public Generic::EnableSharedFromThis< Camera >
     bool m_prev_mouse_pos_valid;
     std::shared_ptr<radu::utils::RandGenerator> m_rand_gen;
 
-
     void recalculate_orientation();
     Eigen::Matrix4f compute_projection_matrix(const float fov_x, const float aspect, const float znear, const float zfar);
+    Eigen::Matrix4f compute_ortho_projection_matrix(const float left, const float right, const float bottom, const float top, const float znear, const float zfar);
     Eigen::Quaternionf two_axis_rotation(const Eigen::Vector2f viewport_size, const float speed, const Eigen::Vector2f prev_mouse, const Eigen::Vector2f current_mouse);
 };
 

diff --git a/include/easy_pbr/Gui.h b/include/easy_pbr/Gui.h
@@ -9,7 +9,7 @@
 // #include <glad/glad.h> // Initialize with gladLoadGL()
 // Include glfw3.h after our OpenGL definitions
 // #include <GLFW/glfw3.h>
-
+#include "loguru_fwd_dec.h"
 // //imgui
 #include <imgui.h> //is needed to be included here because imguizmo needs it
 // #include "imgui_impl_glfw.h"
@@ -23,8 +23,8 @@
 #include "Texture2D.h"
 
 
-class GLFWwindow;
-class ImGuiContext;
+struct GLFWwindow;
+struct ImGuiContext;
 
 namespace easy_pbr{
 
@@ -114,6 +114,13 @@ class Gui{
     int m_traj_view_updates = 0;
     std::shared_ptr<Camera> m_preview_camera;
 
+    std::vector<Eigen::Vector2d> m_selection_points;
+    ImGuizmo::MODE m_selection_guizmo_mode = ImGuizmo::LOCAL;
+    ImGuizmo::OPERATION m_selection_guizmo_operation = ImGuizmo::TRANSLATE;
+    bool m_selection_should_draw = false;
+    bool m_selection_edit = false;
+    int m_selected_selection_idx = 0;
+
     void init_params(const std::string config_file);
     void init_style();
     void edit_transform(const std::shared_ptr<Mesh>& mesh);
@@ -127,7 +134,7 @@ class Gui{
     void draw_profiler();
     void draw_drag_drop_text();
     void draw_trajectory(const std::string & trajectory_mesh_name, const std::string & frustum_mesh_name);
-
+    void edit_selection( const int & selection_idx );
 };
 
 } //namespace easy_pbr
diff --git a/include/easy_pbr/LabelMngr.h b/include/easy_pbr/LabelMngr.h
@@ -5,7 +5,9 @@
 #include <unordered_map>
 #include <memory>
 
-#include <configuru.hpp>
+//#include <configuru.hpp>
+#include "loguru_fwd_dec.h"
+#include "configuru_fwd_dec.h"
 
 //OpenCV
 #include <opencv2/highgui/highgui.hpp>

diff --git a/include/easy_pbr/Mesh.h b/include/easy_pbr/Mesh.h
@@ -14,7 +14,7 @@
 //better enums
 #include <enum.h>
 
-#include <loguru.hpp>
+#include "loguru_fwd_dec.h"
 
 
 namespace radu { namespace utils {
@@ -24,7 +24,7 @@ namespace radu { namespace utils {
 namespace easy_pbr{
 
 BETTER_ENUM(MeshColorType, int, Solid = 0, PerVertColor, Texture, SemanticPred, SemanticGT, NormalVector, Height, Intensity, UV, NormalViewCoords )
-
+BETTER_ENUM(ColorSchemeType, int, Plasma = 0, Viridis, Magma )
 
 class MeshGL; //we forward declare this so we can have from here a pointer to the gpu stuff
 class LabelMngr;
@@ -56,6 +56,7 @@ struct VisOptions{
     float m_line_width=1.0; //specified the width of of both line rendering and the wireframe rendering
     float m_normals_scale=-1.0; //the scale of the arrows for the normal. It starts at -1.0 but it gets set during the first render to something depending on the mesh scale
     MeshColorType m_color_type=MeshColorType::Solid;
+    ColorSchemeType m_color_scheme = ColorSchemeType::Plasma;
     // Eigen::Vector3f m_point_color = Eigen::Vector3f(1.0, 215.0/255.0, 85.0/255.0);
     Eigen::Vector3f m_point_color = Eigen::Vector3f(245.0/255.0, 175.0/255.0, 110.0/255.0);
     Eigen::Vector3f m_line_color = Eigen::Vector3f(1.0, 0.0, 0.0);   //used for lines and wireframes
@@ -252,6 +253,7 @@ class Mesh : public std::enable_shared_from_this<Mesh>{ //enable_shared_from is
     void preallocate_L_pred(size_t max_nr_verts);
     void preallocate_L_gt(size_t max_nr_verts);
     void preallocate_I(size_t max_nr_verts);
+    void preallocate_T(size_t max_nr_verts);
 
 
 
@@ -363,9 +365,11 @@ class Mesh : public std::enable_shared_from_this<Mesh>{ //enable_shared_from is
     Eigen::MatrixXd V_tangent_u; //for surfel rendering each vertex has a 2 vectors that are tangent defining the span of the elipsoid. For memory usage we don't store the 2 vectors directly because we alreayd have a normal vector, rather we store one tangent vector in full (vec3) and the other one we store only the norm of it because it's dirrection can be inferred as the cross product between the normal and the first tangent vector
     Eigen::MatrixXd V_length_v;
     Eigen::MatrixXd V_bitangent_v;
+    Eigen::MatrixXd S_pred; //predicted likelihood for each class per point, useful for semantic segmentation
     Eigen::MatrixXi L_pred; //predicted labels for each point, useful for semantic segmentation
     Eigen::MatrixXi L_gt; //ground truth labels for each point, useful for semantic segmentation
     Eigen::MatrixXd I; //intensity value of each point in the cloud. Useful for laser scanner
+    Eigen::MatrixXi T; //time value of each point since start of the cloud. Useful for laser scanner
     Eigen::MatrixXi VTI; //Vertex texture coordinate indices which is the coordinate that the vertices has towards the UV. check https://en.wikipedia.org/wiki/Wavefront_.obj_file
     Eigen::MatrixXi VNI; //Vertex normal indices which is the coordinate that the vertices has towards the NV. check https://en.wikipedia.org/wiki/Wavefront_.obj_file
     DataBlob<double> V_blob;

diff --git a/include/easy_pbr/MeshGL.h b/include/easy_pbr/MeshGL.h
@@ -3,13 +3,7 @@
 #include <memory>
 #include<stdarg.h>
 
-
-
-//loguru
-#define LOGURU_WITH_STREAMS 1
-#define LOGURU_REPLACE_GLOG 1
-#include <loguru.hpp>
-
+#include "loguru_fwd_dec.h"
 
 #include "Buf.h"
 #include "Texture2D.h"

diff --git a/include/easy_pbr/Recorder.h b/include/easy_pbr/Recorder.h
@@ -5,6 +5,7 @@
 #include <thread>
 #include <memory>
 #include <unordered_map>
+#include "loguru_fwd_dec.h"
 #include "GBuffer.h"
 
 #include "concurrentqueue.h"

diff --git a/include/easy_pbr/Scene.h b/include/easy_pbr/Scene.h
@@ -14,7 +14,7 @@ class Scene{
 
 public:
     Scene();
-    static void show(const std::shared_ptr<Mesh> mesh, const std::string name); //adds to the scene and overwrites if it has the same name
+    static void show(const std::shared_ptr<Mesh> mesh, const std::string name, const bool overwrite_vis = false ); //adds to the scene and overwrites if it has the same name
     static void hide_all();
     static void show_all();
     // static void show(const Mesh& mesh, const std::string name); //convenience function. adds to the scene and overwrites if it has the same name
+1 −0		.github/FUNDING.yml
+1 −1		LICENSE.md
+1 −19		README.md
+46 −3		doc/ApiReference.md
+0 −15		doc/Contact.md
+12 −0		doc/OptInFeatures.md
+1 −4		doc/index.md
+1 −1		doc/template/footer.tmpl
+0 −1		doc/template/header.tmpl
+1 −1		doc/template/ref.tmpl
+1 −1		doc/template/version.tmpl
+11 −7		enum.h