remove useless code & add "Open Sparse Model"

Author: oneLOH

3rdparty/SiftGPU/CuTexImage.cpp

@@ -9,7 +9,7 @@
 //	Permission to use, copy, modify and distribute this software and its
 //	documentation for educational, research and non-profit purposes, without
 //	fee, and without a written agreement is hereby granted, provided that
-// the 	above copyright notice and the following paragraph appear in all copies.
+//  the above copyright notice and the following paragraph appear in all copies.
 //
 //	The University of North Carolina at Chapel Hill make no representations
 //	about the suitability of this software for any purpose. It is provided

CMakeLists.txt

@@ -133,6 +133,7 @@ add_library(xrsfm
         src/ui/resources.qrc
         )
 
+qt5_add_resources(RESOURCES src/ui/resources.qrc)
 
 target_include_directories(xrsfm
         PUBLIC
@@ -163,7 +164,7 @@ else ()
         sift_gpu
         ${Qt5Core_LIBRARIES}
         ${Qt5OpenGL_LIBRARIES}
-        ${Qt5Widgets_LIBRARIES}
+        ${Qt5Widgets_LIBRARIES} 
         )
 endif()
 
@@ -190,3 +191,4 @@ target_link_libraries(rec_kitti xrsfm)
 
 add_executable(test_gui src/test_gui.cc)
 target_link_libraries(test_gui xrsfm)
+target_sources(test_gui PRIVATE ${RESOURCES})

src/geometry/colmap/estimators/absolute_pose.cc

@@ -32,8 +32,8 @@
 #include "absolute_pose.h"
 
 #include <Eigen/Eigen>
+#include <glog/logging.h>
 
-#include "geometry/colmap/util/logging.h"
 #include "polynomial.h"
 
 namespace colmap {

src/geometry/colmap/estimators/absolute_pose.h

@@ -36,7 +36,11 @@
 #include <array>
 #include <vector>
 
-#include "geometry/colmap/util/types.h"
+// #include "geometry/colmap/util/types.h"
+
+namespace Eigen {
+typedef Eigen::Matrix<double, 3, 4> Matrix3x4d;
+}
 
 namespace colmap {
 

src/geometry/colmap/estimators/fundamental_matrix.h

@@ -36,7 +36,7 @@
 #include <vector>
 
 #include "optim/ransac.h"
-#include "util/types.h"
+// #include "util/types.h"
 
 namespace colmap {
 

src/geometry/colmap/estimators/polynomial.cc

@@ -32,8 +32,7 @@
 #include "polynomial.h"
 
 #include <Eigen/Eigenvalues>
-
-#include "geometry/colmap/util/logging.h"
+#include <glog/logging.h>
 
 namespace colmap {
 namespace {

src/geometry/colmap/estimators/polynomial.h

@@ -36,42 +36,6 @@
 
 namespace colmap {
 
-// All polynomials are assumed to be the form:
-//
-//   sum_{i=0}^N polynomial(i) x^{N-i}.
-//
-// and are given by a vector of coefficients of size N + 1.
-//
-// The implementation is based on COLMAP's old polynomial functionality and is
-// inspired by Ceres-Solver's/Theia's implementation to support complex
-// polynomials. The companion matrix implementation is based on NumPy.
-
-// Evaluate the polynomial for the given coefficients at x using the Horner
-// scheme. This function is templated such that the polynomial may be evaluated
-// at real and/or imaginary points.
-template <typename T>
-T EvaluatePolynomial(const Eigen::VectorXd &coeffs, const T &x);
-
-// Find the root of polynomials of the form: a * x + b = 0.
-// The real and/or imaginary variable may be NULL if the output is not needed.
-bool FindLinearPolynomialRoots(const Eigen::VectorXd &coeffs,
-                               Eigen::VectorXd *real, Eigen::VectorXd *imag);
-
-// Find the roots of polynomials of the form: a * x^2 + b * x + c = 0.
-// The real and/or imaginary variable may be NULL if the output is not needed.
-bool FindQuadraticPolynomialRoots(const Eigen::VectorXd &coeffs,
-                                  Eigen::VectorXd *real, Eigen::VectorXd *imag);
-
-// Find the roots of a polynomial using the Durand-Kerner method, based on:
-//
-//    https://en.wikipedia.org/wiki/Durand%E2%80%93Kerner_method
-//
-// The Durand-Kerner is comparatively fast but often unstable/inaccurate.
-// The real and/or imaginary variable may be NULL if the output is not needed.
-bool FindPolynomialRootsDurandKerner(const Eigen::VectorXd &coeffs,
-                                     Eigen::VectorXd *real,
-                                     Eigen::VectorXd *imag);
-
 // Find the roots of a polynomial using the companion matrix method, based on:
 //
 //    R. A. Horn & C. R. Johnson, Matrix Analysis. Cambridge,
@@ -83,19 +47,6 @@ bool FindPolynomialRootsCompanionMatrix(const Eigen::VectorXd &coeffs,
                                         Eigen::VectorXd *real,
                                         Eigen::VectorXd *imag);
 
-////////////////////////////////////////////////////////////////////////////////
-// Implementation
-////////////////////////////////////////////////////////////////////////////////
-
-template <typename T>
-T EvaluatePolynomial(const Eigen::VectorXd &coeffs, const T &x) {
-    T value = 0.0;
-    for (Eigen::VectorXd::Index i = 0; i < coeffs.size(); ++i) {
-        value = value * x + coeffs(i);
-    }
-    return value;
-}
-
 } // namespace colmap
 
 #endif // COLMAP_SRC_BASE_POLYNOMIAL_H_

src/geometry/colmap/optim/loransac.h

@@ -40,7 +40,6 @@
 #include "random_sampler.h"
 #include "ransac.h"
 #include "support_measurement.h"
-#include "../util/logging.h"
 
 namespace colmap {
 

src/geometry/colmap/optim/ransac.h

@@ -36,10 +36,10 @@
 #include <random>
 #include <stdexcept>
 #include <vector>
+#include <glog/logging.h>
 
 #include "random_sampler.h"
 #include "support_measurement.h"
-#include "../util/logging.h"
 
 namespace colmap {
 

src/geometry/colmap/optim/sampler.h

@@ -35,7 +35,7 @@
 #include <cstddef>
 #include <vector>
 
-#include "../util/logging.h"
+#include <glog/logging.h>
 
 namespace colmap {