Port TeleSculptor to Kwiver V2

CMake/telesculptor-external-fletch.cmake

@@ -49,7 +49,8 @@ endif()
 ExternalProject_Add(fletch
   PREFIX ${TELESCULPTOR_BINARY_DIR}
   GIT_REPOSITORY "https://github.com/Kitware/fletch.git"
-  GIT_TAG 94870a290a06db845e80816863bb6d1b9cb12085
+  # Latest master, Source tarballs from data.kitware.com
+  GIT_TAG dc3d1e5acd226c5d68757bd60d81466bc71873e3
   #GIT_SHALLOW 1
   SOURCE_DIR ${TELESCULPTOR_EXTERNAL_DIR}/fletch
   BINARY_DIR ${TELESCULPTOR_EXTERNAL_DIR}/fletch-build
@@ -59,7 +60,7 @@ ExternalProject_Add(fletch
     -Dfletch_BUILD_CXX11:BOOL=ON
     -Dfletch_BUILD_WITH_PYTHON:BOOL=${TELESCULPTOR_ENABLE_PYTHON}
     -Dfletch_ENABLE_Boost:BOOL=${TELESCULPTOR_ENABLE_FLETCH_BOOST}
-    -DBoost_SELECT_VERSION:STRING=1.65.1
+    -DBoost_SELECT_VERSION:STRING=1.78.0
     -Dfletch_ENABLE_Caffe:BOOL=OFF
     -Dfletch_ENABLE_Caffe_Segnet:BOOL=OFF
     -Dfletch_ENABLE_Ceres:BOOL=${TELESCULPTOR_ENABLE_FLETCH_CERES}
@@ -68,8 +69,9 @@ ExternalProject_Add(fletch
     -Dfletch_ENABLE_Darknet_OpenCV:BOOL=OFF
     -Dfletch_ENABLE_Eigen:BOOL=${TELESCULPTOR_ENABLE_FLETCH_EIGEN}
     -Dfletch_ENABLE_FFmpeg:BOOL=${TELESCULPTOR_ENABLE_FLETCH_FFMPEG}
-    -DFFmpeg_SELECT_VERSION:STRING=3.3.3
+    -DFFmpeg_SELECT_VERSION:STRING=5.1.2
     -Dfletch_ENABLE_GDAL:BOOL=${TELESCULPTOR_ENABLE_FLETCH_GDAL}
+    -DGDAL_SELECT_VERSION:STRING=2.4.4
     -Dfletch_ENABLE_GEOS:BOOL=${TELESCULPTOR_ENABLE_FLETCH_GEOS}
     -Dfletch_ENABLE_GFlags:BOOL=OFF
     -Dfletch_ENABLE_GLog:BOOL=${TELESCULPTOR_ENABLE_FLETCH_CERES}
@@ -81,7 +83,7 @@ ExternalProject_Add(fletch
     -Dfletch_ENABLE_LevelDB:BOOL=OFF
     -Dfletch_ENABLE_OpenBLAS:BOOL=OFF
     -Dfletch_ENABLE_OpenCV:BOOL=${TELESCULPTOR_ENABLE_FLETCH_OPENCV}
-    -DOpenCV_SELECT_VERSION:STRING=4.5.1
+    -DOpenCV_SELECT_VERSION:STRING=4.9.0
     -Dfletch_ENABLE_OpenCV_FFmpeg:BOOL=ON
     -Dfletch_ENABLE_OpenCV_contrib:BOOL=ON
     -Dfletch_ENABLE_OpenCV_highgui:BOOL=ON
@@ -97,9 +99,10 @@ ExternalProject_Add(fletch
     -Dfletch_ENABLE_Snappy:BOOL=OFF
     -Dfletch_ENABLE_SQLite3:BOOL=${TELESCULPTOR_ENABLE_FLETCH_PROJ}
     -Dfletch_ENABLE_SuiteSparse:BOOL=${TELESCULPTOR_ENABLE_FLETCH_CERES}
+    -DBUILD_CXSPARSE_ONLY:BOOL=ON
     -Dfletch_ENABLE_TinyXML:BOOL=OFF
     -Dfletch_ENABLE_VTK:BOOL=${TELESCULPTOR_ENABLE_FLETCH_VTK}
-    -DVTK_SELECT_VERSION:STRING=9.0
+    -DVTK_SELECT_VERSION:STRING=9.1
     -Dfletch_ENABLE_VXL:BOOL=ON
     -Dfletch_ENABLE_YAMLcpp:BOOL=OFF
     -Dfletch_ENABLE_ZLib:BOOL=${TELESCULPTOR_ENABLE_FLETCH_ZLIB}
@@ -112,6 +115,7 @@ ExternalProject_Add(fletch
     -Dfletch_ENABLE_openjpeg:BOOL=OFF
     -Dfletch_ENABLE_qtExtensions:BOOL=ON
     -Dfletch_ENABLE_pybind11:BOOL=${TELESCULPTOR_ENABLE_PYTHON}
+    -Dpybind11_SELECT_VERSION:STRING=2.10.3
     -Dfletch_ENABLE_shapelib:BOOL=OFF
     -Dfletch_BUILD_WITH_CUDA:BOOL=${TELESCULPTOR_ENABLE_CUDA}
     -DCUDA_TOOLKIT_ROOT_DIR:PATH=${CUDA_TOOLKIT_ROOT_DIR}

CMake/telesculptor-external-kwiver.cmake

@@ -17,8 +17,9 @@ ExternalProject_Add(kwiver
   SOURCE_DIR ${TELESCULPTOR_EXTERNAL_DIR}/kwiver
   BINARY_DIR ${TELESCULPTOR_EXTERNAL_DIR}/kwiver-build
   STAMP_DIR ${TELESCULPTOR_STAMP_DIR}
-  GIT_REPOSITORY "https://github.com/Kitware/kwiver.git"
-  GIT_TAG 08dbcd8a59a6930ac6f1639c2db8a94c12dfd96e
+  GIT_REPOSITORY "https://gitlab.kitware.com/kwiver/kwiver.git"
+  # Most recent available "main" commit, update Readme.rst
+  GIT_TAG 30f6a83eabe7491a770748b66435d008fe7e6b1f
   #GIT_SHALLOW 1
   CMAKE_CACHE_ARGS
     -DBUILD_SHARED_LIBS:BOOL=ON
@@ -32,8 +33,9 @@ ExternalProject_Add(kwiver
     -DKWIVER_ENABLE_DLL_WARNINGS:BOOL=OFF
     -DKWIVER_ENABLE_DOCS:BOOL=OFF
     -DKWIVER_ENABLE_EXAMPLES:BOOL=OFF
-    -DKWIVER_ENABLE_EXTRAS:BOOL=ON
+    -DKWIVER_ENABLE_EXTRAS:BOOL=OFF
     -DKWIVER_ENABLE_FFMPEG:BOOL=ON
+    -DKWIVER_ENABLE_FFMPEG_CUDA:BOOL=OFF
     -DKWIVER_ENABLE_KPF:BOOL=OFF
     -DKWIVER_ENABLE_GDAL:BOOL=ON
     -DKWIVER_ENABLE_LOG4CPLUS:BOOL=ON
@@ -48,7 +50,7 @@ ExternalProject_Add(kwiver
     -DKWIVER_ENABLE_QT:BOOL=ON
     -DKWIVER_ENABLE_QT_EXT:BOOL=ON
     -DKWIVER_ENABLE_RightTrack:BOOL=OFF
-    -DKWIVER_ENABLE_SPROKIT:BOOL=ON
+    -DKWIVER_ENABLE_SPROKIT:BOOL=OFF
     -DKWIVER_ENABLE_SUPER3D:BOOL=ON
     -DKWIVER_ENABLE_TESTS:BOOL=${TELESCULPTOR_ENABLE_TESTING}
     -DKWIVER_ENABLE_TOOLS:BOOL=${TELESCULPTOR_ENABLE_TOOLS}

CMakeLists.txt

@@ -46,6 +46,8 @@ set(TELESCULPTOR_BINARY_DIR     "${CMAKE_BINARY_DIR}")
 set(TELESCULPTOR_EXTERNAL_DIR   "${TELESCULPTOR_BINARY_DIR}/external")
 set(TELESCULPTOR_STAMP_DIR       ${TELESCULPTOR_EXTERNAL_DIR}/stamps)
 
+set(CMAKE_CXX_STANDARD 17)
+
 if(NOT CMAKE_BUILD_TYPE)
   message(STATUS "Setting build type to 'Release' as none was specified.")
   set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Choose the type of build." FORCE)

gui/CMakeLists.txt

@@ -107,7 +107,8 @@ set(gui_sources
   tools/RunAllTool.cxx
   tools/SaveFrameTool.cxx
   tools/SaveKeyFrameTool.cxx
-  tools/TrackFeaturesSprokitTool.cxx
+  # sprokit disabled for kwiver v2, until sprokit is ported.
+  # tools/TrackFeaturesSprokitTool.cxx
   tools/TrackFeaturesTool.cxx
   tools/TrackFilterTool.cxx
   tools/TriangulateTool.cxx
@@ -159,11 +160,11 @@ unset(no_install)
 
 target_link_libraries(TeleSculptor
   maptk
-  kwiver::kwiver_adapter
+  # kwiver::kwiver_adapter
   kwiver::kwiver_algo_core
   kwiver::kwiver_algo_mvg
   kwiver::kwiver_algo_qt_widgets
-  kwiver::sprokit_pipeline
+  # kwiver::sprokit_pipeline
   kwiver::vital_vpm
   kwiver::kwiver_algo_vtk
   qtExtensions

gui/ColorizeSurfaceOptions.cxx

@@ -348,11 +348,10 @@ void ColorizeSurfaceOptions::colorize()
                            d->cameras);
 
       coloration->set_input(volume);
-      coloration->set_output(volume);
       coloration->set_frame_sampling(d->UI.spinBoxFrameSampling->value());
       coloration->set_occlusion_threshold(d->occlusionThreshold);
-      coloration->set_remove_occluded(d->removeOccluded);
-      coloration->set_remove_masked(d->removeMasked);
+      coloration->set_color_occluded(!d->removeOccluded);
+      coloration->set_color_masked(!d->removeMasked);
       coloration->set_frame(d->lastColorizedFrame);
       coloration->set_all_frames(false);
       connect(coloration, &MeshColoration::resultReady,

gui/MainWindow.cxx

@@ -38,8 +38,9 @@
 #include <arrows/core/track_set_impl.h>
 #include <arrows/mvg/transform.h>
 #include "arrows/vtk/vtkKwiverCamera.h"
-#include <vital/algo/algorithm_factory.h>
+#include <vital/algo/algorithm.txx>
 #include <vital/algo/estimate_similarity_transform.h>
+#include <vital/algo/integrate_depth_maps.h>
 #include <vital/algo/pointcloud_io.h>
 #include <vital/algo/resection_camera.h>
 #include <vital/algo/video_input.h>
@@ -613,7 +614,7 @@ void MainWindowPrivate::addVideoSource(
     this->videoSource->close();
   }
 
-  kv::algo::video_input::set_nested_algo_configuration(
+  kv::set_nested_algo_configuration<kv::algo::video_input>(
     "video_reader", config, this->videoSource);
 
   try
@@ -1729,7 +1730,7 @@ MainWindow::MainWindow(QWidget* parent, Qt::WindowFlags flags)
 
   // check if the application has the CUDA plugin
   bool has_cuda =
-    kwiver::vital::has_algorithm_impl_name("integrate_depth_maps", "cuda");
+    kwiver::vital::has_algorithm_impl_name<kv::algo::integrate_depth_maps>("cuda");
   if (!has_cuda)
   {
     d->UI.actionUseGPU->setChecked(false);
@@ -2395,7 +2396,7 @@ void MainWindow::saveLandmarks(QString const& path, bool writeToProject)
     if (QFileInfo(path).suffix() == "las")
     {
       auto lgcs = d->sfmConstraints->get_local_geo_cs();
-      auto pc_io = kv::algo::pointcloud_io::create("pdal");
+      auto pc_io = kv::create_algorithm<kv::algo::pointcloud_io>("pdal");
       if (!pc_io)
       {
         LOG_ERROR(kv::get_logger("telesculptor.mainwindow"),
@@ -3455,7 +3456,7 @@ void MainWindow::applySimilarityTransform()
   }
 
   config->merge_config(d->project->config);
-  if (!kv::algo::estimate_similarity_transform::check_nested_algo_configuration("st_estimator", config))
+  if (!kv::check_nested_algo_configuration<kv::algo::estimate_similarity_transform>("st_estimator", config))
   {
     QMessageBox::critical(
       this, "Configuration error",
@@ -3465,7 +3466,7 @@ void MainWindow::applySimilarityTransform()
 
   // Create the similarity transform from the ground control points
   kv::algo::estimate_similarity_transform_sptr st_estimator;
-  kv::algo::estimate_similarity_transform::set_nested_algo_configuration(
+  kv::set_nested_algo_configuration<kv::algo::estimate_similarity_transform>(
     "st_estimator", config, st_estimator);
 
   // initialize identity transform
@@ -3596,7 +3597,7 @@ void MainWindow::computeCamera()
   {
     // Create algorithm to write detections
     kv::algo::resection_camera_sptr algorithm;
-    kv::algo::resection_camera::set_nested_algo_configuration(
+    kv::set_nested_algo_configuration<kv::algo::resection_camera>(
       "resection", config, algorithm);
 
     if (!algorithm)

gui/VideoImport.cxx

@@ -4,6 +4,7 @@
 
 #include "VideoImport.h"
 
+#include <vital/algo/algorithm.txx>
 #include <vital/algo/video_input.h>
 
 #include <qtStlUtil.h>
@@ -85,15 +86,15 @@ void VideoImport::run()
   try
   {
 
-    if (!video_input::check_nested_algo_configuration(
+    if (!kwiver::vital::check_nested_algo_configuration<video_input>(
       BLOCK_VR, d->config))
     {
       LOG_WARN(d->logger,
         "An error was found in the video source algorithm configuration.");
       return;
     }
 
-    video_input::set_nested_algo_configuration(
+    kwiver::vital::set_nested_algo_configuration<video_input>(
       BLOCK_VR, d->config, d->video_reader);
 
     kwiver::vital::timestamp currentTimestamp;

gui/WorldView.cxx

@@ -24,6 +24,7 @@
 #include "vtkMaptkScalarDataFilter.h"
 
 #include "arrows/vtk/vtkKwiverCamera.h"
+#include <vital/algo/algorithm.txx>
 #include <vital/algo/pointcloud_io.h>
 #include <vital/types/camera.h>
 #include <vital/types/landmark_map.h>
@@ -1627,7 +1628,7 @@ bool WorldView::saveDepthPoints(QString const& path,
     std::vector<kv::rgb_color> colors;
     d->vtkToPointList(data, DepthMapArrays::TrueColor, points, colors);
 
-    kv::algo::pointcloud_io_sptr pc_io = kv::algo::pointcloud_io::create("pdal");
+    kv::algo::pointcloud_io_sptr pc_io = kv::create_algorithm<kv::algo::pointcloud_io>("pdal");
     if(!pc_io)
     {
       LOG_ERROR(d->logger,
@@ -1749,7 +1750,7 @@ bool WorldView::saveFusedMesh(const QString &path,
     std::vector<kv::rgb_color> colors;
     d->vtkToPointList(d->mesh, d->mesh->GetPointData()->GetScalars()->GetName(),
                       points, colors);
-    kv::algo::pointcloud_io_sptr pc_io = kv::algo::pointcloud_io::create("pdal");
+    kv::algo::pointcloud_io_sptr pc_io = kv::create_algorithm<kv::algo::pointcloud_io>("pdal");
     if(!pc_io)
     {
       LOG_ERROR(d->logger,
@@ -1811,10 +1812,7 @@ void WorldView::saveFusedMeshFrameColors(const QString &path, bool occlusion)
   coloration->set_frame_sampling(d->volumeOptions->getFrameSampling());
   double occlusionThreshold = d->volumeOptions->getOcclusionThreshold();
   coloration->set_occlusion_threshold(occlusionThreshold);
-  coloration->set_remove_occluded(occlusion);
-  vtkSmartPointer<vtkPolyData> meshFrameColors = vtkSmartPointer<vtkPolyData>::New();
-  meshFrameColors->CopyStructure(d->mesh);
-  coloration->set_output(meshFrameColors);
+  coloration->set_color_occluded(!occlusion);
   coloration->set_frame(-1);
   coloration->set_all_frames(true);
   connect(coloration, &MeshColoration::resultReady,

gui/main.cxx

@@ -9,7 +9,7 @@
 #include <maptk/version.h>
 
 #include <kwiversys/SystemTools.hxx>
-#include <vital/plugin_loader/plugin_manager.h>
+#include <vital/plugin_management/plugin_manager.h>
 
 #include <qtCliArgs.h>
 #include <qtStlUtil.h>

gui/tools/BundleAdjustTool.cxx

@@ -5,6 +5,7 @@
 #include "BundleAdjustTool.h"
 #include "GuiCommon.h"
 
+#include <vital/algo/algorithm.txx>
 #include <vital/algo/bundle_adjust.h>
 
 #include <QMessageBox>
@@ -74,7 +75,7 @@ bool BundleAdjustTool::execute(QWidget* window)
   }
 
   config->merge_config(this->data()->config);
-  if (!bundle_adjust::check_nested_algo_configuration(BLOCK, config))
+  if (!kwiver::vital::check_nested_algo_configuration<bundle_adjust>(BLOCK, config))
   {
     QMessageBox::critical(
       window, "Configuration error",
@@ -83,7 +84,7 @@ bool BundleAdjustTool::execute(QWidget* window)
   }
 
   // Create algorithm from configuration
-  bundle_adjust::set_nested_algo_configuration(BLOCK, config, d->algorithm);
+  kwiver::vital::set_nested_algo_configuration<bundle_adjust>(BLOCK, config, d->algorithm);
 
   // Set the callback to receive updates
   using std::placeholders::_1;

gui/tools/CanonicalTransformTool.cxx

@@ -5,6 +5,7 @@
 #include "CanonicalTransformTool.h"
 #include "GuiCommon.h"
 
+#include <vital/algo/algorithm.txx>
 #include <vital/algo/estimate_canonical_transform.h>
 
 #include <arrows/mvg/transform.h>
@@ -76,7 +77,7 @@ bool CanonicalTransformTool::execute(QWidget* window)
   }
 
   config->merge_config(this->data()->config);
-  if (!estimate_canonical_transform::check_nested_algo_configuration(BLOCK, config))
+  if (!kwiver::vital::check_nested_algo_configuration<estimate_canonical_transform>(BLOCK, config))
   {
     QMessageBox::critical(
       window, "Configuration error",
@@ -85,7 +86,7 @@ bool CanonicalTransformTool::execute(QWidget* window)
   }
 
   // Create algorithm from configuration
-  estimate_canonical_transform::set_nested_algo_configuration(
+  kwiver::vital::set_nested_algo_configuration<estimate_canonical_transform>(
     BLOCK, config, d->algorithm);
 
   return AbstractTool::execute(window);

gui/tools/ComputeAllDepthTool.cxx

@@ -7,6 +7,7 @@
 #include "GuiCommon.h"
 
 #include <arrows/core/depth_utils.h>
+#include <vital/algo/algorithm.txx>
 #include <vital/algo/compute_depth.h>
 #include <vital/algo/image_io.h>
 #include <vital/algo/video_input.h>
@@ -111,15 +112,15 @@ bool ComputeAllDepthTool::execute(QWidget* window)
   }
 
   config->merge_config(this->data()->config);
-  if (!video_input::check_nested_algo_configuration(BLOCK_VR, config))
+  if (!kwiver::vital::check_nested_algo_configuration<video_input>(BLOCK_VR, config))
   {
     QMessageBox::critical(
       window, "Configuration error",
       "An error was found in the video_input configuration.");
     return false;
   }
 
-  if (!compute_depth::check_nested_algo_configuration(BLOCK_CD, config))
+  if (!kwiver::vital::check_nested_algo_configuration<compute_depth>(BLOCK_CD, config))
   {
     QMessageBox::critical(
       window, "Configuration error",
@@ -128,7 +129,7 @@ bool ComputeAllDepthTool::execute(QWidget* window)
   }
 
   auto const hasMask = !this->data()->maskPath.empty();
-  if (hasMask && !video_input::check_nested_algo_configuration(BLOCK_MR, config))
+  if (hasMask && !kwiver::vital::check_nested_algo_configuration<video_input>(BLOCK_MR, config))
   {
     QMessageBox::critical(
       window, "Configuration error",
@@ -138,9 +139,9 @@ bool ComputeAllDepthTool::execute(QWidget* window)
 
   // Create algorithm from configuration
   config->merge_config(this->data()->config);
-  video_input::set_nested_algo_configuration(BLOCK_VR, config, d->video_reader);
-  compute_depth::set_nested_algo_configuration(BLOCK_CD, config, d->depth_algo);
-  video_input::set_nested_algo_configuration(BLOCK_MR, config, d->mask_reader);
+  kwiver::vital::set_nested_algo_configuration<video_input>(BLOCK_VR, config, d->video_reader);
+  kwiver::vital::set_nested_algo_configuration<compute_depth>(BLOCK_CD, config, d->depth_algo);
+  kwiver::vital::set_nested_algo_configuration<video_input>(BLOCK_MR, config, d->mask_reader);
 
   d->start_frame = config->get_value<int>("batch_depth:first_frame", 0);
   d->end_frame = config->get_value<int>("batch_depth:end_frame", -1);