Clean-Up Project Structure:

-Added external Libraries if possible as git submodules
-Added Catch2 Test Framework & structure
-General Helper Classes moved to KinectFusion cmake Library

.gitmodules

@@ -0,0 +1,6 @@
+[submodule "extern/Catch2"]
+	path = extern/Catch2
+	url = https://github.com/catchorg/Catch2.git
+[submodule "extern/eigen-git-mirror"]
+	path = extern/eigen-git-mirror
+	url = https://github.com/eigenteam/eigen-git-mirror.git

CMakeLists.txt

@@ -1,31 +1,24 @@
+cmake_minimum_required(VERSION 3.10)
 set(PROJECT_NAME KinectFusion)
 project(${PROJECT_NAME})
-
-cmake_minimum_required(VERSION 3.1)
-set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake ${CMAKE_MODULE_PATH})
-
 set(EXECUTABLE_OUTPUT_PATH bin)
 set(LIBRARY_OUTPUT_PATH lib)
-
-# Required libraries
-find_package(Eigen3 REQUIRED)
-include_directories(${EIGEN3_INCLUDE_DIR})
+set (CMAKE_CXX_STANDARD 14)
 
 find_package(FreeImage REQUIRED)
-include_directories(${FREEIMAGE_INCLUDE_DIRS})
 
-set( HEADER_FILES
-    ${PROJECT_SOURCE_DIR}/src/FreeImageHelper.h
-    ${PROJECT_SOURCE_DIR}/src/VirtualSensor.h
-)
+#adds gitsubmodules
+add_subdirectory(extern)
+### if CMAKE Build Time
+#adds our KinectFusion Lib
+add_subdirectory(FusionLib)
 
-set( SOURCE_FILES
-    ${PROJECT_SOURCE_DIR}/src/FreeImageHelper.cpp
-    ${PROJECT_SOURCE_DIR}/src/DepthMapConverter.cpp
-    ${PROJECT_SOURCE_DIR}/src/main.cpp
-)
+#<-------Stuff for directly building an Application----->
+set(APP_ONE ${PROJECT_NAME} )
+add_executable(${APP_ONE} main.cpp)
+#target_link_libraries (${TEST_TARGET_ONE} graph Eigen3::Eigen )# libdl)# pybind11)
+target_link_libraries (${APP_ONE} kfusion eigenI ${FREEIMAGE_LIBRARIES})# libdl)# pybind11)
+target_compile_features(${APP_ONE} PUBLIC cxx_std_17)
 
-ADD_EXECUTABLE(${PROJECT_NAME} ${HEADER_FILES} ${SOURCE_FILES})
 
-target_link_libraries(${PROJECT_NAME} ${FREEIMAGE_LIBRARIES})

FusionLib/CMakeLists.txt

@@ -0,0 +1,24 @@
+
+
+include_directories(include)
+set(FUSION_Name kfusion)
+###set Kinect Fusion Library sources###
+set(FUSION_SOURCES
+        src/DepthMapConverter.cpp
+        src/FreeImageHelper.cpp
+        src/VirtualSensor.cpp)
+
+add_library(${FUSION_Name}  ${FUSION_SOURCES})
+target_include_directories(${FUSION_Name} PUBLIC ${CMAKE_CURRENT_LIST_DIR}/include)
+### link external libraries to Kinect Fusion Library
+target_link_libraries(${FUSION_Name}  eigenI  catch2I )
+set_target_properties(${FUSION_Name} PROPERTIES POSITION_INDEPENDENT_CODE TRUE)
+
+### Adds catch2 Tests in FusionLib/tests ###
+MACRO (FUSIONLib_TEST NAME)
+    SET(MODULES "${ARGN}")
+    ADD_EXECUTABLE(test_${NAME} test_${NAME}.cpp ${PROJECT_SOURCE_DIR}/FusionLib/test_main.cpp)
+    TARGET_LINK_LIBRARIES(test_${NAME} ${MODULES} eigenI catch2I  )
+    ADD_TEST(test_${NAME} test_${NAME})
+ENDMACRO (FUSIONLib_TEST)
+add_subdirectory(tests)

src/Eigen.h → FusionLib/include/EigenHelper.hpp

@@ -1,88 +1,92 @@
-#pragma once
-
-#ifndef VERBOSE
-//#define VERBOSE(msg) {std::cout << msg << std::endl;}
-#define VERBOSE(msg)
-#endif
-
-#ifndef ASSERT
-#define ASSERT(a) {if (!a) { std::cerr << "Error:\nFile: " << __FILE__ << "\nLine: " << __LINE__ << "\nFunction: " << __FUNCTION__ << std::endl; while(1); }}
-#endif
-
-#ifndef SAFE_DELETE
-#define SAFE_DELETE(ptr) {if(ptr!=nullptr) {delete ptr; ptr = nullptr;}}
-#endif
-
-#ifndef SAFE_DELETE_ARRAY
-#define SAFE_DELETE_ARRAY(ptr) {if(ptr!=nullptr) {delete[] ptr; ptr = nullptr;}}
-#endif
-
-#ifndef MINF
-#define MINF -std::numeric_limits<float>::infinity()
-#endif
-
-#ifndef M_PI
-#define M_PI 3.14159265359
-#endif
-
-
-#include <Eigen/Dense>
-#include <Eigen/StdVector>
-#include <Eigen/Eigenvalues>
-#include <unsupported/Eigen/NonLinearOptimization>
-#include <Eigen/Sparse>
-#include <Eigen/SparseCholesky>
-
-typedef Eigen::Matrix<unsigned char, 4, 1> Vector4uc;
-
-
-EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector2f)
-EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector3f)
-EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector4f)
-EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Vector4uc)
-EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::VectorXf)
-EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Matrix4f)
-EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::MatrixXf)
-EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Quaternionf)
-
-
-
-using namespace Eigen;
-
-template<typename T,unsigned int n,unsigned m>
-std::istream &operator>>(std::istream &in, Matrix<T,n,m> &other)
-{
-	for(unsigned int i=0; i<other.rows(); i++)
-		for(unsigned int j=0; j<other.cols(); j++)
-			in >> other(i,j);
-	return in;
-}
-
-template<typename T,unsigned int n,unsigned m>
-std::ostream &operator<<(std::ostream &out, const Matrix<T,n,m> &other)
-{
-	std::fixed(out);
-	for(int i=0; i<other.rows(); i++) {
-		out << other(i,0);
-		for(int j=1; j<other.cols(); j++) {
-			out << "\t" << other(i,j);
-		}
-		out << std::endl;
-	}
-	return out;
-}
-
-template<typename T>
-std::istream &operator>>(std::istream &in, Eigen::Quaternion<T> &other)
-{
-	in >> other.x() >> other.y() >> other.z() >> other.w();
-	return in;
-}
-
-template<typename T>
-std::ostream &operator<<(std::ostream &out, const Eigen::Quaternion<T> &other)
-{
-	std::fixed(out);
-	out << other.x() << "\t" << other.y() << "\t" << other.z() << "\t" << other.w();
-	return out;
-}
+//
+// Created by pbo on 27.06.19.
+//
+
+#pragma once
+
+#ifndef VERBOSE
+//#define VERBOSE(msg) {std::cout << msg << std::endl;}
+#define VERBOSE(msg)
+#endif
+
+#ifndef ASSERT
+#define ASSERT(a) {if (!a) { std::cerr << "Error:\nFile: " << __FILE__ << "\nLine: " << __LINE__ << "\nFunction: " << __FUNCTION__ << std::endl; while(1); }}
+#endif
+
+#ifndef SAFE_DELETE
+#define SAFE_DELETE(ptr) {if(ptr!=nullptr) {delete ptr; ptr = nullptr;}}
+#endif
+
+#ifndef SAFE_DELETE_ARRAY
+#define SAFE_DELETE_ARRAY(ptr) {if(ptr!=nullptr) {delete[] ptr; ptr = nullptr;}}
+#endif
+
+#ifndef MINF
+#define MINF -std::numeric_limits<float>::infinity()
+#endif
+
+#ifndef M_PI
+#define M_PI 3.14159265359
+#endif
+
+
+#include <Eigen/Dense>
+#include <Eigen/StdVector>
+#include <Eigen/Eigenvalues>
+#include <unsupported/Eigen/NonLinearOptimization>
+#include <Eigen/Sparse>
+#include <Eigen/SparseCholesky>
+
+typedef Eigen::Matrix<unsigned char, 4, 1> Vector4uc;
+
+
+EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector2f)
+EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector3f)
+EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector4f)
+EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Vector4uc)
+EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::VectorXf)
+EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Matrix4f)
+EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::MatrixXf)
+EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Quaternionf)
+
+
+
+using namespace Eigen;
+
+template<typename T,unsigned int n,unsigned m>
+std::istream &operator>>(std::istream &in, Matrix<T,n,m> &other)
+{
+    for(unsigned int i=0; i<other.rows(); i++)
+        for(unsigned int j=0; j<other.cols(); j++)
+            in >> other(i,j);
+    return in;
+}
+
+template<typename T,unsigned int n,unsigned m>
+std::ostream &operator<<(std::ostream &out, const Matrix<T,n,m> &other)
+{
+    std::fixed(out);
+    for(int i=0; i<other.rows(); i++) {
+        out << other(i,0);
+        for(int j=1; j<other.cols(); j++) {
+            out << "\t" << other(i,j);
+        }
+        out << std::endl;
+    }
+    return out;
+}
+
+template<typename T>
+std::istream &operator>>(std::istream &in, Eigen::Quaternion<T> &other)
+{
+    in >> other.x() >> other.y() >> other.z() >> other.w();
+    return in;
+}
+
+template<typename T>
+std::ostream &operator<<(std::ostream &out, const Eigen::Quaternion<T> &other)
+{
+    std::fixed(out);
+    out << other.x() << "\t" << other.y() << "\t" << other.z() << "\t" << other.w();
+    return out;
+}

FusionLib/include/VirtualSensor.hpp

@@ -0,0 +1,97 @@
+#pragma once
+
+#include <vector>
+#include <iostream>
+#include <cstring>
+#include <fstream>
+
+#include <EigenHelper.hpp>
+#include "FreeImageHelper.hpp"
+
+typedef unsigned char BYTE;
+
+// reads sensor files according to https://vision.in.tum.de/data/datasets/rgbd-dataset/file_formats
+class VirtualSensor
+{
+public:
+
+	VirtualSensor();
+
+	~VirtualSensor();
+
+	bool Init(const std::string& datasetDir);
+
+	bool ProcessNextFrame();
+
+	unsigned int GetCurrentFrameCnt();
+
+	// get current color data
+	BYTE* GetColorRGBX();
+
+	// get current depth data
+	float* GetDepth();
+
+	// color camera info
+	Eigen::Matrix3f GetColorIntrinsics();
+
+	Eigen::Matrix4f GetColorExtrinsics();
+
+	unsigned int GetColorImageWidth();
+
+	unsigned int GetColorImageHeight();
+
+	// depth (ir) camera info
+	Eigen::Matrix3f GetDepthIntrinsics();
+
+	Eigen::Matrix4f GetDepthExtrinsics();
+
+	unsigned int GetDepthImageWidth();
+
+	unsigned int GetDepthImageHeight();
+
+	// get current trajectory transformation
+	Eigen::Matrix4f GetTrajectory();
+
+private:
+
+	bool ReadFileList(const std::string& filename, std::vector<std::string>& result, std::vector<double>& timestamps);
+
+	bool ReadTrajectoryFile(const std::string& filename, std::vector<Eigen::Matrix4f>& result, std::vector<double>& timestamps);
+
+	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+	// current frame index
+	int m_currentIdx;
+
+	int m_increment;
+
+	// frame data
+	float* m_depthFrame;
+	BYTE* m_colorFrame;
+	Eigen::Matrix4f m_currentTrajectory;
+
+	// color camera info
+	Eigen::Matrix3f m_colorIntrinsics;
+	Eigen::Matrix4f m_colorExtrinsics;
+	unsigned int m_colorImageWidth;
+	unsigned int m_colorImageHeight;
+
+	// depth (ir) camera info
+	Eigen::Matrix3f m_depthIntrinsics;
+	Eigen::Matrix4f m_depthExtrinsics;
+	unsigned int m_depthImageWidth;
+	unsigned int m_depthImageHeight;
+
+	// base dir
+	std::string m_baseDir;
+	// filenamelist depth
+	std::vector<std::string> m_filenameDepthImages;
+	std::vector<double> m_depthImagesTimeStamps;
+	// filenamelist color
+	std::vector<std::string> m_filenameColorImages;
+	std::vector<double> m_colorImagesTimeStamps;
+
+	// trajectory
+	std::vector<Eigen::Matrix4f> m_trajectory;
+	std::vector<double> m_trajectoryTimeStamps;
+};

FusionLib/src/DepthMapConverter.cpp

@@ -0,0 +1,5 @@
+#include "VirtualSensor.hpp"
+
+#include <Eigen/Dense>
+
+