update Pangolin API

.gitmodules

@@ -1,6 +1,6 @@
 [submodule "3rdparty/eigen-git-mirror"]
 	path = 3rdparty/eigen
-	url = https://github.com/eigenteam/eigen-git-mirror.git
+	url = https://gitlab.com/libeigen/eigen.git
 [submodule "3rdparty/Pangolin"]
 	path = 3rdparty/Pangolin
 	url = https://github.com/stevenlovegrove/Pangolin.git

CMakeLists.txt

@@ -1,5 +1,5 @@
 # Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
-cmake_minimum_required(VERSION 2.6.0)
+cmake_minimum_required(VERSION 3.22)
 
 project(Replica)
 
@@ -14,12 +14,11 @@ if(NOT ${Eigen3_FOUND})
 endif()
 
 # use system Pangolin if available
-find_package(Pangolin)
+find_package(Pangolin 0.9)
 if(NOT ${Pangolin_FOUND})
     message(STATUS "Using 3rd party Pangolin")
-    set(Pangolin_INCLUDE_DIRS "${THIRD_PARTY}/Pangolin/build/src/include")
-    list(APPEND Pangolin_INCLUDE_DIRS "${THIRD_PARTY}/Pangolin/include")
-    set(Pangolin_LIBRARIES "${THIRD_PARTY}/Pangolin/build/src/libpangolin.so")
+    list(APPEND CMAKE_PREFIX_PATH "${THIRD_PARTY}/Pangolin/build")
+    find_package(Pangolin 0.9 REQUIRED)
 endif()
 
 find_package(dl REQUIRED)

README.md

@@ -11,7 +11,7 @@ See the [technical report](https://arxiv.org/abs/1906.05797) for more details.
 
 The Replica SDK contained in this repository allows visual inspection of the
 datasets via the ReplicaViewer and gives an example of how to render out images
-from the scenes headlessly via the ReplicaRenderer. 
+from the scenes headlessly via the ReplicaRenderer.
 
 For machine learning purposes each dataset also contains an export to the format
 employed by [AI Habitat](https://www.aihabitat.org/) and is therefore usable
@@ -21,7 +21,7 @@ seamlessly in that framework for AI agent training and other ML tasks.
 
 If you use the Replica dataset in your research directly or indirectly via derivative datasets or frameworks, please cite the following
 [technical report](https://arxiv.org/abs/1906.05797):
-```
+```bibtex
 @article{replica19arxiv,
   title =   {The {R}eplica Dataset: A Digital Replica of Indoor Spaces},
   author =  {Julian Straub and Thomas Whelan and Lingni Ma and Yufan Chen and Erik Wijmans and Simon Green and Jakob J. Engel and Raul Mur-Artal and Carl Ren and Shobhit Verma and Anton Clarkson and Mingfei Yan and Brian Budge and Yajie Yan and Xiaqing Pan and June Yon and Yuyang Zou and Kimberly Leon and Nigel Carter and Jesus Briales and  Tyler Gillingham and  Elias Mueggler and Luis Pesqueira and Manolis Savva and Dhruv Batra and Hauke M. Strasdat and Renzo De Nardi and Michael Goesele and Steven Lovegrove and Richard Newcombe },
@@ -42,14 +42,14 @@ Each Replica contains the following assets:
 ```
 ├── glass.sur
 ├── habitat
-    ├── mesh_semantic.ply 
+    ├── mesh_semantic.ply
     ├── mesh_semantic.navmesh
     ├── info_semantic.json
-    ├── mesh_preseg_semantic.ply 
+    ├── mesh_preseg_semantic.ply
     ├── mesh_preseg_semantic.navmesh
     ├── info_preseg_semantic.json
     ├── replica_stage.stage_config.json
-    └── sorted_faces.bin 
+    └── sorted_faces.bin
 ├── mesh.ply
 ├── preseg.bin
 ├── preseg.json
@@ -69,22 +69,22 @@ The different files contain the following:
 - `preseg.json` and `preseg.bin`: the presegmentation in terms of planes and non-planes of the scene.
 - `semantic.json` and `semantic.bin`: the semantic segmentation of the scene.
 - `textures`: the high resolution and high dynamic range textures of the scene.
-- `habitat/mesh*semantic.ply`: the quad meshes including semantic or presegmentation information for AI Habitat. 
+- `habitat/mesh*semantic.ply`: the quad meshes including semantic or presegmentation information for AI Habitat.
 - `habitat/info*semantic.json`: mapping from instance IDs in the respective `mesh_*.ply` to semantic names.
 - `habitat/mesh*semantic.navmesh`: navigation grid for AI Habitat.
 - `habitat/replica_stage.stage_config.json`: configuration file defining scene level parameters for habitat-sim.
 - `habitat/sorted_faces.bin`: binary file containing pre-processed geometry data for habitat-sim Ptex rendering support.
 
 ### Download on Mac OS and Linux
 Make sure `pigz`, `wget`, and `unzip` are installed:
-```
+```bash
 # on Mac OS
 brew install wget pigz unzip
 # on Ubuntu
 sudo apt-get install wget pigz unzip
 ```
 To download and decompress the dataset use the `download.sh` script:
-```
+```bash
 ./download.sh /path/to/replica_v1
 ```
 
@@ -97,7 +97,7 @@ Execute `win_download.bat` to download Replica.
 ### Setup
 After installing the dependencies of [Pangolin](https://github.com/stevenlovegrove/Pangolin),
 the Replica SDK can be compiled using the build script via
-```
+```bash
 git submodule update --init
 ./build.sh
 ```
@@ -108,36 +108,36 @@ to be installed. If you wish to use the headless renderer ensure you have the li
 
 ### ReplicaViewer
 
-ReplicaViewer is an interactive UI to explore the Replica Dataset. 
+ReplicaViewer is an interactive UI to explore the Replica Dataset.
 
-```
+```bash
 ./build/bin/ReplicaViewer mesh.ply /path/to/atlases [mirrorFile]
 ```
 
 ![ReplicaViewer](./assets/ReplicaViewer.png)
 
 The exposure value for rendering from the HDR textures can be adjusted on the
-top left. 
+top left.
 
 ### ReplicaRenderer
 
 The ReplicaRenderer shows how to render out images from a Replica for a
 programmatically defined trajectory without UI. This executable can be run
-headless on a server if so desired. 
+headless on a server if so desired.
 
-```
+```bash
 ./build/bin/ReplicaRenderer mesh.ply textures glass.sur
 ```
 
 ## Replica and AI Habitat
 
 To use Replica within AI Habitat checkout the AI Habitat Sim at [https://github.com/facebookresearch/habitat-sim](https://github.com/facebookresearch/habitat-sim).
 After building the project you can launch the test viewer to verify that everything works:
-```
+```bash
 ./build/viewer --dataset /PATH/TO/REPLICA/replica.scene_dataset_config.json -- frl_apartment_0
 ```
 
-## Team 
+## Team
 
 Julian Straub,  Thomas Whelan, Lingni Ma, Yufan Chen, Erik Wijmans, Simon Green, Jakob J. Engel, Raul Mur-Artal, Carl Ren, Shobhit Verma, Anton Clarkson, Mingfei Yan, Brian Budge, Yajie Yan, Xiaqing Pan, June Yon, Yuyang Zou, Kimberly Leon, Nigel Carter, Jesus Briales,  Tyler Gillingham Elias Mueggler, Luis Pesqueira, Manolis Savva, Dhruv Batra, Hauke M. Strasdat, Renzo De Nardi, Michael Goesele, Steven Lovegrove, and Richard Newcombe.
 

ReplicaSDK/CMakeLists.txt

@@ -1,5 +1,5 @@
 # Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
-cmake_minimum_required(VERSION 2.6.0)
+cmake_minimum_required(VERSION 3.22)
 
 project(ReplicaSDK)
 
@@ -10,28 +10,29 @@ set(PTEX_SHADER_DIR "${CMAKE_CURRENT_LIST_DIR}/shaders" CACHE PATH "Where the sh
 file(GLOB srcs_ptex ptex/*.cpp)
 file(GLOB hdrs include/*.h)
 
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -msse2 -msse3 -Wall -std=c++11 -fopenmp -DSHADER_DIR=${PTEX_SHADER_DIR}")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -msse2 -msse3 -Wall -fopenmp -DSHADER_DIR=${PTEX_SHADER_DIR}")
 
 add_library(ptex SHARED
             ${srcs_ptex}
             ${hdrs}
 )
 
 target_link_libraries(ptex
-                      ${Eigen_LIBRARIES}
+                      Eigen3::Eigen
                       ${Pangolin_LIBRARIES}
                       ${dl_LIBRARIES}
                       stdc++fs
+                      X11
 )
 target_include_directories(ptex PUBLIC
             ${Pangolin_INCLUDE_DIRS}
-            ${Eigen_INCLUDE_DIRS}
             ${dl_INCLUDE_DIRS}
             ${CMAKE_CURRENT_LIST_DIR}
 )
 
+set_property(TARGET ptex PROPERTY CXX_STANDARD 17)
+
 include_directories(${Pangolin_INCLUDE_DIRS})
-include_directories(${EIGEN3_INCLUDE_DIR})
 include_directories(${dl_INCLUDE_DIRS})
 include_directories("./include")
 
@@ -56,3 +57,5 @@ target_link_libraries(ReplicaRenderer
                       ptex
                       stdc++fs
 )
+
+install(TARGETS ptex ReplicaViewer ReplicaRenderer)

ReplicaSDK/include/PTexLib.h

@@ -1,6 +1,6 @@
 // Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
 #pragma once
-#include <pangolin/display/opengl_render_state.h>
+#include <pangolin/gl/opengl_render_state.h>
 #include <pangolin/gl/gl.h>
 #include <pangolin/gl/glsl.h>
 #include <memory>

ReplicaSDK/ptex/EGL.cpp

@@ -130,7 +130,7 @@ EGLCtx::EGLCtx(const bool createCtx, const int cudaDevice, const bool createSurf
       display = eglGetPlatformDisplayEXT(EGL_PLATFORM_X11_KHR, x11, 0);
     }
     ASSERT(display != EGL_NO_DISPLAY, "Can't create EGL display");
-    
+
     EGLint major, minor;
     ASSERT(eglInitialize(display, &major, &minor), "Can't init EGL");
 
@@ -156,17 +156,19 @@ EGLCtx::EGLCtx(const bool createCtx, const int cudaDevice, const bool createSurf
           "Can't bind EGL context");
     }
 
+#ifdef HAVE_GLEW
     GLenum err = glewInit();
 
 #ifdef GLEW_ERROR_NO_GLX_DISPLAY
     if (err == GLEW_ERROR_NO_GLX_DISPLAY) {
         std::cout << "Can't initialize EGL GLEW GLX display, may crash!" << std::endl;
     }
-    else 
+    else
 #endif
     if (err != GLEW_OK) {
         ASSERT(false, "Can't initialize EGL, glewInit failing completely.");
     }
+#endif
 
     // Setup default OpenGL parameters
     glHint(GL_PERSPECTIVE_CORRECTION_HINT, GL_NICEST);

ReplicaSDK/src/viewer.cpp

@@ -2,7 +2,7 @@
 #include <PTexLib.h>
 
 #include <pangolin/display/display.h>
-#include <pangolin/display/widgets/widgets.h>
+#include <pangolin/display/widgets.h>
 
 #include "GLCheck.h"
 #include "MirrorRenderer.h"
@@ -29,9 +29,11 @@ int main(int argc, char* argv[]) {
   // Setup OpenGL Display (based on GLUT)
   pangolin::CreateWindowAndBind("ReplicaViewer", uiWidth + width, height);
 
+#ifdef HAVE_GLEW
   if (glewInit() != GLEW_OK) {
     pango_print_error("Unable to initialize GLEW.");
   }
+#endif
 
   if(!checkGLVersion()) {
     return 1;

build.sh

@@ -2,13 +2,9 @@
 # Copyright (c) Facebook, Inc. and its affiliates. All Rights Reserved
 
 cd 3rdparty/Pangolin
-mkdir build
-cd build
-cmake ..
-make -j
+cmake -B build
+cmake --build build -j
 
-cd ../../../
-mkdir build
-cd build
-cmake ..
-make -j
+cd ../../
+cmake -B build
+cmake --build build -j