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Add Colmap OPENCV_FULL, use C++20 #243

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Merged
pierotofy merged 2 commits into from
Aug 14, 2026
Merged

Add Colmap OPENCV_FULL, use C++20 #243

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44825d5
Add Colmap OPENCV_FULL, use C++20
pierotofy Aug 14, 2026
ee68657
Use C++20 only if supported
pierotofy Aug 14, 2026
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27 changes: 21 additions & 6 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -209,11 +209,26 @@ else()
set(GPU_RUNTIME "CPU")
endif()

set(CMAKE_CXX_STANDARD 17)
# Use C++20 when the compiler supports it (required by libtorch >= 2.13),
# otherwise fall back to C++17
if("cxx_std_20" IN_LIST CMAKE_CXX_COMPILE_FEATURES)
set(OPENSPLAT_CXX_STANDARD 20)
else()
set(OPENSPLAT_CXX_STANDARD 17)
endif()
message(STATUS "Using C++ standard: ${OPENSPLAT_CXX_STANDARD}")
set(CMAKE_CXX_STANDARD ${OPENSPLAT_CXX_STANDARD})
if((GPU_RUNTIME STREQUAL "CUDA") OR (GPU_RUNTIME STREQUAL "HIP"))
enable_language(${GPU_RUNTIME})
set(CMAKE_${GPU_RUNTIME}_STANDARD 17)
set(${GPU_RUNTIME}_STANDARD 17)
string(TOLOWER "${GPU_RUNTIME}" GPU_RUNTIME_LOWER)
if("${GPU_RUNTIME_LOWER}_std_${OPENSPLAT_CXX_STANDARD}" IN_LIST CMAKE_${GPU_RUNTIME}_COMPILE_FEATURES)
set(OPENSPLAT_GPU_STANDARD ${OPENSPLAT_CXX_STANDARD})
else()
set(OPENSPLAT_GPU_STANDARD 17)
endif()
message(STATUS "Using ${GPU_RUNTIME} standard: ${OPENSPLAT_GPU_STANDARD}")
set(CMAKE_${GPU_RUNTIME}_STANDARD ${OPENSPLAT_GPU_STANDARD})
set(${GPU_RUNTIME}_STANDARD ${OPENSPLAT_GPU_STANDARD})
endif()

if (NOT WIN32 AND NOT APPLE)
Expand Down Expand Up @@ -305,7 +320,7 @@ if(OPENSPLAT_USE_PCH)
endif()

install(TARGETS opensplat DESTINATION bin)
set_property(TARGET opensplat PROPERTY CXX_STANDARD 17)
set_property(TARGET opensplat PROPERTY CXX_STANDARD ${OPENSPLAT_CXX_STANDARD})
target_include_directories(opensplat PRIVATE
${PROJECT_SOURCE_DIR}/rasterizer
${GPU_INCLUDE_DIRS}
Expand Down Expand Up @@ -351,7 +366,7 @@ if(OPENSPLAT_BUILD_SIMPLE_TRAINER)
if (NOT WIN32)
target_link_libraries(simple_trainer PUBLIC pthread)
endif()
set_property(TARGET simple_trainer PROPERTY CXX_STANDARD 17)
set_property(TARGET simple_trainer PROPERTY CXX_STANDARD ${OPENSPLAT_CXX_STANDARD})
if(GPU_RUNTIME STREQUAL "HIP")
target_compile_definitions(simple_trainer PRIVATE USE_HIP __HIP_PLATFORM_AMD__)
elseif(GPU_RUNTIME STREQUAL "CUDA")
Expand All @@ -366,7 +381,7 @@ endif()
# the DLLs need to be copied to avoid memory errors.
if (MSVC)
file(GLOB TORCH_DLLS "${TORCH_INSTALL_PREFIX}/lib/*.dll")
file(GLOB OPENCV_DLL "${OPENCV_DIR}/x64/vc16/bin/opencv_world490.dll")
file(GLOB OPENCV_DLL "${OPENCV_DIR}/x64/vc16/bin/opencv_world*[0-9].dll")
set(DLLS_TO_COPY ${TORCH_DLLS} ${OPENCV_DLL})
add_custom_command(TARGET opensplat
POST_BUILD
Expand Down
13 changes: 13 additions & 0 deletions colmap.cpp
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Expand Up @@ -68,6 +68,19 @@ InputData inputDataFromColmap(const std::string &projectRoot){
cam->k2 = readBinary<double>(camf);
cam->p1 = readBinary<double>(camf);
cam->p2 = readBinary<double>(camf);
}else if (model == FullOpenCV){
cam->fx = readBinary<double>(camf);
cam->fy = readBinary<double>(camf);
cam->cx = readBinary<double>(camf);
cam->cy = readBinary<double>(camf);
cam->k1 = readBinary<double>(camf);
cam->k2 = readBinary<double>(camf);
cam->p1 = readBinary<double>(camf);
cam->p2 = readBinary<double>(camf);
cam->k3 = readBinary<double>(camf);
cam->k4 = readBinary<double>(camf);
cam->k5 = readBinary<double>(camf);
cam->k6 = readBinary<double>(camf);
}else{
throw std::runtime_error("Unsupported camera model: " + std::to_string(model));
}
Expand Down
4 changes: 2 additions & 2 deletions input_data.cpp
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Expand Up @@ -117,11 +117,11 @@ torch::Tensor Camera::getImage(int downscaleFactor){
}

bool Camera::hasDistortionParameters(){
return k1 != 0.0f || k2 != 0.0f || k3 != 0.0f || p1 != 0.0f || p2 != 0.0f;
return k1 != 0.0f || k2 != 0.0f || k3 != 0.0f || k4 != 0.0f || k5 != 0.0f || k6 != 0.0f || p1 != 0.0f || p2 != 0.0f;
}

std::vector<float> Camera::undistortionParameters(){
std::vector<float> p = { k1, k2, p1, p2, k3, 0.0f, 0.0f, 0.0f };
std::vector<float> p = { k1, k2, p1, p2, k3, k4, k5, k6 };
return p;
}

Expand Down
3 changes: 3 additions & 0 deletions input_data.hpp
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Expand Up @@ -20,6 +20,9 @@ struct Camera{
float k1 = 0;
float k2 = 0;
float k3 = 0;
float k4 = 0;
float k5 = 0;
float k6 = 0;
float p1 = 0;
float p2 = 0;
torch::Tensor camToWorld;
Expand Down
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