CMake changes

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "vcpkg"]
+	path = vcpkg
+	url = https://github.com/microsoft/vcpkg

SuperBuild/CMakeLists.txt

@@ -7,6 +7,13 @@ if (NOT CMAKE_BUILD_TYPE)
     set(CMAKE_BUILD_TYPE "Release")
 endif()
 
+if (WIN32)
+  if (NOT DEFINED CMAKE_TOOLCHAIN_FILE)
+    message(FATAL_ERROR "CMAKE_TOOLCHAIN_FILE not set. You need to set it to the path of vcpkg.cmake")
+  endif()
+  set(WIN32_CMAKE_ARGS "-DCMAKE_TOOLCHAIN_FILE=${CMAKE_TOOLCHAIN_FILE}")
+endif()
+
 # Setup SuperBuild root location
 set(SB_ROOT_DIR ${CMAKE_CURRENT_SOURCE_DIR})
 
@@ -35,6 +42,7 @@ message(STATUS "SuperBuild files will be downloaded to: ${SB_DOWNLOAD_DIR}")
 set(SB_SOURCE_DIR "${SB_ROOT_DIR}/src"
     CACHE PATH "Location where source tar-balls are (will be).")
 mark_as_advanced(SB_SOURCE_DIR)
+set(SB_BUILD_DIR "${SB_ROOT_DIR}/build")
 
 message(STATUS "SuperBuild source files will be extracted to: ${SB_SOURCE_DIR}")
 

SuperBuild/cmake/External-Ceres.cmake

@@ -18,7 +18,9 @@ ExternalProject_Add(${_proj_name}
     -DCMAKE_CXX_FLAGS=-fPIC
     -DBUILD_EXAMPLES=OFF
     -DBUILD_TESTING=OFF
+    -DMINIGLOG=ON
     -DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
+    ${WIN32_CMAKE_ARGS}
   #--Build step-----------------
   BINARY_DIR        ${_SB_BINARY_DIR}
   #--Install step---------------

SuperBuild/cmake/External-ORB_SLAM2.cmake

@@ -1,78 +0,0 @@
-set(_proj_name orb_slam2)
-set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
-
-ExternalProject_Add(${_proj_name}
-  DEPENDS           opencv pangolin
-  PREFIX            ${_SB_BINARY_DIR}
-  TMP_DIR           ${_SB_BINARY_DIR}/tmp
-  STAMP_DIR         ${_SB_BINARY_DIR}/stamp
-  #--Download step--------------
-  DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
-  URL               https://github.com/paulinus/ORB_SLAM2/archive/7c11f186a53a75560cd17352d327b0bc127a82de.zip
-  #--Update/Patch step----------
-  UPDATE_COMMAND    ""
-  #--Configure step-------------
-  SOURCE_DIR        ${SB_SOURCE_DIR}/${_proj_name}
-  CMAKE_ARGS
-    -DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
-  #--Build step-----------------
-  BINARY_DIR        ${_SB_BINARY_DIR}
-  #--Install step---------------
-  INSTALL_COMMAND    ""
-  #--Output logging-------------
-  LOG_DOWNLOAD      OFF
-  LOG_CONFIGURE     OFF
-  LOG_BUILD         OFF
-)
-
-# DBoW2
-set(DBoW2_BINARY_DIR "${SB_BINARY_DIR}/DBoW2")
-file(MAKE_DIRECTORY "${DBoW2_BINARY_DIR}")
-
-ExternalProject_Add_Step(${_proj_name} build_DBoW2
-  COMMAND make -j2
-  DEPENDEES configure_DBoW2
-  DEPENDERS configure
-  WORKING_DIRECTORY ${DBoW2_BINARY_DIR}
-  ALWAYS 1
-)
-
-ExternalProject_Add_Step(${_proj_name} configure_DBoW2
-  COMMAND ${CMAKE_COMMAND} <SOURCE_DIR>/Thirdparty/DBoW2
-    -DOpenCV_DIR=${SB_INSTALL_DIR}/share/OpenCV
-    -DCMAKE_BUILD_TYPE=Release
-  DEPENDEES download
-  DEPENDERS build_DBoW2
-  WORKING_DIRECTORY ${DBoW2_BINARY_DIR}
-  ALWAYS 1
-)
-
-# g2o
-set(g2o_BINARY_DIR "${SB_BINARY_DIR}/g2o")
-file(MAKE_DIRECTORY "${g2o_BINARY_DIR}")
-
-ExternalProject_Add_Step(${_proj_name} build_g2o
-  COMMAND make -j2
-  DEPENDEES configure_g2o
-  DEPENDERS configure
-  WORKING_DIRECTORY ${g2o_BINARY_DIR}
-  ALWAYS 1
-)
-
-ExternalProject_Add_Step(${_proj_name} configure_g2o
-  COMMAND ${CMAKE_COMMAND} <SOURCE_DIR>/Thirdparty/g2o
-    -DCMAKE_BUILD_TYPE=Release
-  DEPENDEES download
-  DEPENDERS build_g2o
-  WORKING_DIRECTORY ${g2o_BINARY_DIR}
-  ALWAYS 1
-)
-
-# Uncompress Vocabulary
-ExternalProject_Add_Step(${_proj_name} uncompress_vocabulary
-  COMMAND tar -xf ORBvoc.txt.tar.gz
-  DEPENDEES download
-  DEPENDERS configure
-  WORKING_DIRECTORY <SOURCE_DIR>/Vocabulary
-  ALWAYS 1
-)

SuperBuild/cmake/External-OpenSfM.cmake

@@ -1,5 +1,18 @@
 set(_proj_name opensfm)
 set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
+include(ProcessorCount)
+ProcessorCount(nproc)
+
+if(WIN32)
+  set(OpenCV_DIR "${SB_INSTALL_DIR}/x64/vc16/lib")
+  set(Python_PATH "${SB_INSTALL_DIR}/../../venv/Scripts/python")
+  set(WIN32_CMAKE_EXTRA_ARGS -DCMAKE_CXX_FLAGS="-DM_PI=3.14159265358979323846")
+  set(BUILD_CMD cmake --build "${SB_BUILD_DIR}/opensfm" --config "${CMAKE_BUILD_TYPE}")
+else()
+  set(OpenCV_DIR "${SB_INSTALL_DIR}/lib/cmake/opencv4")
+  set(Python_PATH "/usr/bin/python3")
+  set(BUILD_CMD make "-j${nproc}")
+endif()
 
 ExternalProject_Add(${_proj_name}
   DEPENDS           ceres opencv gflags
@@ -16,10 +29,13 @@ ExternalProject_Add(${_proj_name}
   SOURCE_DIR        ${SB_SOURCE_DIR}/${_proj_name}
   CONFIGURE_COMMAND cmake <SOURCE_DIR>/${_proj_name}/src
     -DCERES_ROOT_DIR=${SB_INSTALL_DIR}
-    -DOpenCV_DIR=${SB_INSTALL_DIR}/lib/cmake/opencv4
+    -DOpenCV_DIR=${OpenCV_DIR}
     -DADDITIONAL_INCLUDE_DIRS=${SB_INSTALL_DIR}/include
     -DOPENSFM_BUILD_TESTS=off
-    -DPYTHON_EXECUTABLE=/usr/bin/python3
+    -DPYTHON_EXECUTABLE=${Python_PATH}
+    ${WIN32_CMAKE_ARGS}
+    ${WIN32_CMAKE_EXTRA_ARGS}
+  BUILD_COMMAND ${BUILD_CMD}
   #--Build step-----------------
   BINARY_DIR        ${_SB_BINARY_DIR}
   #--Install step---------------

SuperBuild/cmake/External-Pangolin.cmake

@@ -1,29 +0,0 @@
-set(_proj_name pangolin)
-set(_SB_BINARY_DIR "${SB_BINARY_DIR}/${_proj_name}")
-
-ExternalProject_Add(${_proj_name}
-  PREFIX            ${_SB_BINARY_DIR}
-  TMP_DIR           ${_SB_BINARY_DIR}/tmp
-  STAMP_DIR         ${_SB_BINARY_DIR}/stamp
-  #--Download step--------------
-  DOWNLOAD_DIR      ${SB_DOWNLOAD_DIR}
-  URL               https://github.com/paulinus/Pangolin/archive/b7c66570b336e012bf3124e2a7411d417a1d35f7.zip
-  URL_MD5           9b7938d1045d26b27a637b663e647aef
-  #--Update/Patch step----------
-  UPDATE_COMMAND    ""
-  #--Configure step-------------
-  SOURCE_DIR        ${SB_SOURCE_DIR}/${_proj_name}
-  CMAKE_ARGS
-    -DCPP11_NO_BOOST=1
-    -DCMAKE_INSTALL_PREFIX:PATH=${SB_INSTALL_DIR}
-
-  #--Build step-----------------
-  BINARY_DIR        ${_SB_BINARY_DIR}
-  #--Install step---------------
-  INSTALL_DIR       ${SB_INSTALL_DIR}
-  #--Output logging-------------
-  LOG_DOWNLOAD      OFF
-  LOG_CONFIGURE     OFF
-  LOG_BUILD         OFF
-)
-

requirements.txt

@@ -4,7 +4,8 @@ beautifulsoup4==4.9.3
 cloudpickle==1.6.0
 edt==2.0.2
 ExifRead==2.3.2
-Fiona==1.8.17
+Fiona==1.8.17 ; sys_platform == 'linux' or sys_platform == 'darwin'
+https://download.lfd.uci.edu/pythonlibs/w4tscw6k/Fiona-1.8.19-cp38-cp38-win_amd64.whl ; sys_platform == 'win32'
 joblib==0.17.0
 laspy==1.7.0
 lxml==4.6.1
@@ -18,7 +19,9 @@ pyproj==3.0.0.post1
 Pysolar==0.9
 pytz==2020.4
 PyYAML==5.1
-rasterio==1.1.8
+rasterio==1.1.8 ; sys_platform == 'linux' or sys_platform == 'darwin'
+https://download.lfd.uci.edu/pythonlibs/w4tscw6k/rasterio-1.2.3-cp38-cp38-win_amd64.whl ; sys_platform == 'win32'
+https://download.lfd.uci.edu/pythonlibs/w4tscw6k/GDAL-3.2.2-cp38-cp38-win_amd64.whl ; sys_platform == 'win32'
 repoze.lru==0.7
 scikit-learn==0.23.2
 scikit-image==0.17.2

snap/snapcraft.yaml

@@ -134,7 +134,6 @@ parts:
       - libboost-serialization-dev
       - libboost-system-dev
       - libboost-thread-dev
-      - libgoogle-glog-dev
       - libsuitesparse-dev
     stage-packages:
       - libamd2
@@ -151,7 +150,6 @@ parts:
       - libcholmod3
       - libcolamd2
       - libcxsparse3
-      - libgoogle-glog0v5
       - libsuitesparseconfig5
 
   odm:

vcpkg

@@ -0,0 +1 @@
+Subproject commit a267ab118c09f56f3dae96c9a4b3410820ad2f0b

vcpkg-requirements.txt

@@ -0,0 +1,3 @@
+eigen3:windows-x64
+suitesparse:windows-x64
+lapack:windows-x64