Replaced GSL simplex/lmfit with nlopt optimizer

Replaced image loading routines with CImg. Now PPMs are supported properly, with optional support for PNG and TIFF
Replaced BLAS/LAPACK with Eigen
Updated internal jpeg library and miniBoost
CMake-system now supports system boost, jpeg and other libraries if available.
Replaced pthread with tinycthread to get rid of pthread.dll on Windows

README

@@ -4,6 +4,12 @@ Main modification:
  - cross platform compilation Linux, Windows => CMake build system generator.
  - added bug fix from Nghia Ho.
  - make PLY, PSET, PATCH export faster and optional.
+ - Replaced GSL simplex/lmfit with nlopt optimizer
+ - Replaced image loading routines with CImg. Now PPMs are supported properly, with optional support for PNG and TIFF
+ - Replaced BLAS/LAPACK with Eigen
+ - Updated internal jpeg library and miniBoost
+ - CMake-system now supports system boost, jpeg and other libraries if available. 
+ - Replaced pthread with tinycthread to get rid of pthread.dll on Windows
 
 Authors : 
 [Original code author]  Yasutaka Furukawa http://www.cs.washington.edu/homes/furukawa/

Readme.txt

@@ -20,13 +20,11 @@ Date : 13 July 2011
 
 Windows => Use precompiled binary, or compile it with VS2008/2010 (Express or pro, Pro will allow you to enable Opemp in CMVS)
         => Use CMake GUI in order to generate the Visual Studio project file (in ./program you will find the main CMakeLists.txt).
-        => To compile windows 64 binary => edit the ./program/CMakeLists.txt and set WIN64_PTHREAD to true
 
 Linux => use makefile in program/main.
-Setup in makefile the library path to clapack directory if necessary (in order find clapack/clapack.h, clapack/f2c.h, and graclus at compile time)
 
  Or use CMake build system :
-=> Install the following libraries : jpeg gsl lapack boost boost-graph pthread
+=> Install the following libraries : jpeg boost boost-graph
  $ mkdir OutputLinux
  $ cd OutputLinux
  $ cmake . ..
@@ -51,3 +49,14 @@ What have been done on native Yasutaka Furukawa source code :
   - memoize pow(2,X)
   - Change GSL simplex to lmfit.
 
+- Replaced GSL simplex/lmfit with nlopt optimizer
+
+- Replaced image loading routines with CImg. Now PPMs are supported properly, with optional support for PNG and TIFF
+
+- Replaced BLAS/LAPACK with Eigen
+
+- Updated internal jpeg library and miniBoost
+
+- CMake-system now supports system boost, jpeg and other libraries if available. 
+
+- Replaced pthread with tinycthread to get rid of pthread.dll on Windows

program/CMakeLists.txt

@@ -4,66 +4,86 @@
 # Second draft 24 sept 2010
 # Third draft (linux) 12 oct 2010 
 # 28 july 2014 Make VisualStudio Win32/Win64 detection automatic
+# 15.01.2015 Added tinycthread, nlopt, CImg, removed BLAS, LAPACK, GSL, lmfit, winpthread (R. Hiestand)
 
 CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
 
 PROJECT(CMVS-PMVS2 C CXX)
 
-IF(WIN32)
+INCLUDE_DIRECTORIES(
+	${CMAKE_SOURCE_DIR}/program/base/image
+	${CMAKE_SOURCE_DIR}/program/base/numeric
+	${CMAKE_SOURCE_DIR}/program/base/pmvs
+	${CMAKE_SOURCE_DIR}/thirdParty/
+	${CMAKE_SOURCE_DIR}/thirdParty/graclus1.2/metisLib
+	${CMAKE_SOURCE_DIR}/thirdParty/nlopt-2.4.2/api
+	${CMAKE_SOURCE_DIR}/thirdParty/cimg
+	${CMAKE_SOURCE_DIR}/thirdParty/tinycthread
+)
 
-  SET(ADDITIONAL_WIN_INCLUDES 
-        ./thirdParty/miniBoost
-        ./thirdParty/pthread/include
-        ./thirdParty/jpeg)
+# Threads
+FIND_PACKAGE(Threads REQUIRED)
+SET(PMVS_LIBRARIES ${PMVS_LIBRARIES} ${CMAKE_THREAD_LIBS_INIT})
 
-ENDIF(WIN32)
+# Eigen
+SET( EIGEN3_INCLUDE_DIR ${CMAKE_SOURCE_DIR}/thirdParty/Eigen )
+SET( CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${EIGEN3_INCLUDE_DIR}/cmake" )
+FIND_PACKAGE(Eigen3 3.0.0 REQUIRED)
+MESSAGE("Found Eigen ${EIGEN3_VERSION}")
+INCLUDE_DIRECTORIES( ${EIGEN3_INCLUDE_DIR} )
 
-INCLUDE_DIRECTORIES(
-  ./program/base/image
-  ./program/base/numeric
-  ./program/base/pmvs
+# Boost
+SET(Boost_USE_STATIC_LIBS        ON)
+SET(Boost_USE_MULTITHREADED      ON)
+SET(Boost_USE_STATIC_RUNTIME     OFF)
+FIND_PACKAGE(Boost)
+IF(Boost_FOUND)
+	message("Using system boost library: ${Boost_INCLUDE_DIRS}")
+	INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
+ELSE(Boost_FOUND)
+	message("No system boost library found, using internal version")
+	SET(PMVS_USE_INTERNAL_BOOST TRUE)
+	INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/thirdParty/miniBoost)
+ENDIF(Boost_FOUND)
 
-  ./thirdParty/
-  ./thirdParty/gsl-1.13/include
-  # http://eris.liralab.it/iCub/downloads/packages/windows/msvc9/
-  ./thirdParty/graclus1.2/metisLib
-  ./thirdParty/lmfit-3.2/lib
-  ${ADDITIONAL_WIN_INCLUDES}
-)
 
-IF(WIN32)
+# JPEG
+FIND_PACKAGE(JPEG)
+IF(JPEG_FOUND)
+	message("Using system JPEG library: ${JPEG_LIBRARIES}")
+	INCLUDE_DIRECTORIES(${JPEG_INCLUDE_DIR})
+	SET(PMVS_LIBRARIES ${PMVS_LIBRARIES} ${JPEG_LIBRARIES})
+ELSE(JPEG_FOUND)
+	message("No system JPEG library found, using internal version")
+	SET(PMVS_USE_INTERNAL_JPEG TRUE)
+	INCLUDE_DIRECTORIES(${CMAKE_SOURCE_DIR}/thirdParty/jpeg)
+	INCLUDE_DIRECTORIES(${CMAKE_BINARY_DIR}/thirdParty/jpeg)	# For jconfig.h
+	SET(PMVS_LIBRARIES ${PMVS_LIBRARIES} jpeg)
+ENDIF(JPEG_FOUND)
 
-  IF (${CMAKE_CL_64})
-    SET(WIN64_PTHREAD true)
-  ELSE (${CMAKE_CL_64})
-    SET(WIN64_PTHREAD false)
-  ENDIF (${CMAKE_CL_64})
 
-  IF(WIN64_PTHREAD)
-    SET(PTHREAD_LIB ${CMAKE_SOURCE_DIR}/thirdParty/pthreadVC2.lib)
-  ELSE(WIN64_PTHREAD)
-    SET(PTHREAD_LIB ${CMAKE_SOURCE_DIR}/thirdParty/pthread.lib)
-  ENDIF(WIN64_PTHREAD)
-  SET(PRECOMPILED_LIBS ${PTHREAD_LIB})
+# ZLIB
+#FIND_PACKAGE(ZLIB REQUIRED)
+#INCLUDE_DIRECTORIES(${ZLIB_INCLUDE_DIR})
 
-ELSE(WIN32)
+# PNG
+FIND_PACKAGE(PNG)
+IF(PNG_FOUND)
+	message("PNG library found, enabling support: ${PNG_LIBRARIES}")
+	ADD_DEFINITIONS(-DPMVS_HAVE_PNG)
+	INCLUDE_DIRECTORIES(${PNG_INCLUDE_DIRS})
+	SET(PMVS_LIBRARIES ${PMVS_LIBRARIES} ${PNG_LIBRARIES})
+ENDIF(PNG_FOUND)
 
-  FIND_LIBRARY(LAPACK_LIB NAMES lapack)
-  FIND_LIBRARY(GSL_LIB NAMES gsl)
-  FIND_LIBRARY(GSLCBLAS_LIB NAMES gslcblas)
-  FIND_PACKAGE(JPEG REQUIRED)
-  FIND_PACKAGE(BLAS REQUIRED)
-  FIND_PACKAGE(Threads REQUIRED)
-  FIND_PACKAGE(Boost REQUIRED)
-  SET(PRECOMPILED_LIBS
-    ${JPEG_LIBRARY}
-    ${LAPACK_LIB}
-    ${GSL_LIB}
-    ${GSLCBLAS_LIB}
-    ${BLAS_LIBRARIES}
-    ${CMAKE_THREAD_LIBS_INIT})
+# TIFF
+FIND_PACKAGE(TIFF)
+IF(TIFF_FOUND)
+	message("TIFF library found, enabling support: ${TIFF_LIBRARIES}")
+	ADD_DEFINITIONS(-DPMVS_HAVE_TIFF)
+	INCLUDE_DIRECTORIES(${TIFF_INCLUDE_DIR})
+	SET(PMVS_LIBRARIES ${PMVS_LIBRARIES} ${TIFF_LIBRARIES})
+ENDIF(TIFF_FOUND)
 
-ENDIF (WIN32)
 
 ADD_SUBDIRECTORY(base)
 ADD_SUBDIRECTORY(main)

program/base/cmvs/bundle.cc

@@ -26,7 +26,7 @@ using namespace CMVS;
 Cbundle::Cbundle(void) {
   m_CPU = 8;
   m_junit = 100;
-  pthread_rwlock_init(&m_lock, NULL);
+  mtx_init(&m_lock, mtx_plain | mtx_recursive);
   m_debug = 0;
   m_puf = NULL;
   m_ptree = NULL;
@@ -665,7 +665,7 @@ void Cbundle::mergeSfMPThread(void) {
   const int tenth = (int)m_coords.size() / 10;
   while (1) {
     int pid = -1;
-    pthread_rwlock_wrlock(&m_lock);
+    mtx_lock(&m_lock);
     if (!m_jobs.empty()) {
       pid = m_jobs.front();
       m_jobs.pop_front();
@@ -675,7 +675,7 @@ void Cbundle::mergeSfMPThread(void) {
     if (m_count % tenth == 0)
       cerr << '*' << flush;
     ++m_count;
-    pthread_rwlock_unlock(&m_lock);
+    mtx_unlock(&m_lock);
     if (pid == -2)
       continue;
     if (pid == -1)
@@ -704,7 +704,7 @@ void Cbundle::mergeSfMPThread(void) {
     }
 
     // Now lock and try to register
-    pthread_rwlock_wrlock(&m_lock);
+    mtx_lock(&m_lock);
     // If the main one is removed, over... waste.
     if (m_merged[pid] == 0) {
       m_merged[pid] = 1;
@@ -716,13 +716,13 @@ void Cbundle::mergeSfMPThread(void) {
         }
       }
     }
-    pthread_rwlock_unlock(&m_lock);
+    mtx_unlock(&m_lock);
   }
 }
 
-void* Cbundle::mergeSfMPThreadTmp(void* arg) {
+int Cbundle::mergeSfMPThreadTmp(void* arg) {
   ((Cbundle*)arg)->mergeSfMPThread();
-  return NULL;
+  return 0;
 }
 
 void Cbundle::mergeSfMP(void) {
@@ -764,12 +764,11 @@ void Cbundle::mergeSfMP(void) {
       m_jobs.push_back(order[p]);
 
     m_count = 0;
-    vector<pthread_t> threads(m_CPU);
+    vector<thrd_t> threads(m_CPU);
     for (int c = 0; c < m_CPU; ++c)
-      pthread_create(&threads[c], NULL,
-                     mergeSfMPThreadTmp, (void*)this);
+      thrd_create(&threads[c], &mergeSfMPThreadTmp, (void*)this);
     for (int c = 0; c < m_CPU; ++c)
-      pthread_join(threads[c], NULL);
+      thrd_join(threads[c], NULL);
 
     int newpnum = 0;
     // Mapping from m_pnum to new id for reps
@@ -920,12 +919,12 @@ void Cbundle::setCluster(const int p) {
     m_sfms2[p].m_satisfied = 1;
 
     //  update m_lacks
-    pthread_rwlock_wrlock(&m_lock);    
+    mtx_lock(&m_lock);    
     for (int i = 0; i < (int)m_visibles[p].size(); ++i) {
       const int image = m_visibles[p][i];
       --m_lacks[image];
     }
-    pthread_rwlock_unlock(&m_lock);
+    mtx_unlock(&m_lock);
   }
 }
 

program/base/cmvs/bundle.h

@@ -15,7 +15,7 @@
 #include "../stann/sfcnn.hpp"
 #include "../numeric/mat3.h"
 #include "../image/photoSetS.h"
-#include <pthread.h>
+#include "tinycthread.h"
 
 namespace CMVS {
 
@@ -152,7 +152,7 @@ class Cbundle {
   void mergeSfM(void);
   void mergeSfMP(void);
   void mergeSfMPThread(void);
-  static void* mergeSfMPThreadTmp(void* arg); 
+  static int mergeSfMPThreadTmp(void* arg); 
 
   std::vector<char> m_merged;
 
@@ -259,7 +259,7 @@ class Cbundle {
   //----------------------------------------------------------------------
   // Threads
   int m_CPU;
-  pthread_rwlock_t m_lock;
+  mtx_t m_lock;
   std::list<int> m_jobs;
   int m_junit;
   int m_thread;

program/base/image/camera.h

@@ -4,6 +4,7 @@
 #include <vector>
 #include <string>
 #include <climits>
+#include <algorithm>
 #include "../numeric/vec4.h"
 #include "../numeric/mat4.h"
 #include "../numeric/mat3.h"